Range image measurement system for a mobile robot navigation

Abstract

A high-speed laser range image acquisition device using off-the-shelf components is developed. The method uses a frame grabber and a frame processor that are commercially available on a PC to acquire a set of laser stripes in real time (at a frame rate), and process the set of laser stripes in a PC to obtain a range image. The use of a range image for improving the stability of the mobile robot navigation is discussed.