TY - JOUR
T1 - Qualitative real-time range extraction for preplanned scene partitioning using laser beam coding
AU - Sazbon, Didi
AU - Zalevsky, Zeev
AU - Rivlin, Ehud
PY - 2005/8
Y1 - 2005/8
N2 - This paper proposes a novel technique to extract range using a phase-only filter for a laser beam. The workspace is partitioned according to M meaningful preplanned range segments, each representing a relevant range segment in the scene. The phase-only filter codes the laser beam into M different diffraction patterns, corresponding to the predetermined range of each segment. Once the scene is illuminated by the coded beam, each plane in it would irradiate in a pattern corresponding to its range from the light source. Thus, range can be extracted at acquisition time. This technique has proven to be very efficient for qualitative real-time range extraction, and is mostly appropriate to handle mobile robot applications where a scene could be partitioned into a set of meaningful ranges, such as obstacle detection and docking. The hardware consists of a laser beam, a lens, a filter, and a camera, implying a simple and cost-effective technique.
AB - This paper proposes a novel technique to extract range using a phase-only filter for a laser beam. The workspace is partitioned according to M meaningful preplanned range segments, each representing a relevant range segment in the scene. The phase-only filter codes the laser beam into M different diffraction patterns, corresponding to the predetermined range of each segment. Once the scene is illuminated by the coded beam, each plane in it would irradiate in a pattern corresponding to its range from the light source. Thus, range can be extracted at acquisition time. This technique has proven to be very efficient for qualitative real-time range extraction, and is mostly appropriate to handle mobile robot applications where a scene could be partitioned into a set of meaningful ranges, such as obstacle detection and docking. The hardware consists of a laser beam, a lens, a filter, and a camera, implying a simple and cost-effective technique.
KW - Laser beam coding
KW - Range estimation
UR - http://www.scopus.com/inward/record.url?scp=19944401192&partnerID=8YFLogxK
U2 - 10.1016/j.patrec.2005.02.008
DO - 10.1016/j.patrec.2005.02.008
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AN - SCOPUS:19944401192
SN - 0167-8655
VL - 26
SP - 1772
EP - 1781
JO - Pattern Recognition Letters
JF - Pattern Recognition Letters
IS - 11
ER -