A 3-D vision system for autonomous robot applications based on a low power semiconductor laser rangefinder

In this paper we present a 3-D vision system which is based on a direct laser rangefinder which scans the scene in two axes (i.e. horizontal, or azimuth, and vertical, or elevation) using a very simple, single scanning mirror, instead of the two mirror scanners commercially available, providing a low cost, problem-solving, solution. The low power laser rangefinder used in this 3-D vision system is based on a continuous wave amplitude modulation (AMCW) technique, and has been specifically designed by the authors to meet the requirements of robotics vision systems.