Computer Science
Scientific paper
Feb 1993
adsabs.harvard.edu/cgi-bin/nph-data_query?bibcode=1993luq..rept.....t&link_type=abstract
M.S. Thesis Laval Univ. (Quebec). Dept. de Genie Electrique.
Computer Science
Cameras, Computer Vision, Laser Range Finders, Optical Scanners, Robot Sensors, Calibrating, Charge Coupled Devices, Image Reconstruction, Numerical Control, Rotating Mirrors, Semiconductor Lasers
Scientific paper
A three dimensional vision system is presented which is capable of providing the distance of objects on a 256 by 256 mesh coordinated in azimuth and in elevation. A scanner module added to an existing Jupiter camera of Servo-Robot Inc. allows directing the laser beam to a desired location. The camera, originally with one axis of rotation, was modified to have two axes of rotation. The supplementary axis works in strict relationship with the original scanning mechanism of the camera. The calibration method is modified to take into account this additional mechanism. The new module is carefully integrated with the camera which remains compact and lightweight so that it can easily be used by small robots. The characteristics of the Jupiter camera and the modified final product are described. The design of the second axis of rotation is reviewed with respect to the mechanical design and to the modifications of the controller electronics and software. Finally, the methods used for calibrating the second axis of rotation are summarized along with the results of representative experiments which illustrate some of the images captured by the new three dimensional camera.
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