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Fast row-parallel CMOS range image sensor

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1 Author(s)
Brajovic, V. ; Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA

The work presents a novel row-parallel architecture for a fast, high-resolution CMOS range sensor utilizing dynamic triangulation. The sensor detects the location of the structured light (e.g., laser line) in each row based on temporal signatures from the sensory signal. The range map is detected at twice the resolution than the photodetector count and is sampled on a 30 × 30 μm grid in the image plane. Our current prototype can operate up to 2000 frames per second, and deliver sub millimeter precision from a stand off distance of about 70 cm.

Published in:

Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on  (Volume:1 )

Date of Conference:

26 April-1 May 2004

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