A low-cost range finder using a visually located, structured light source

In this paper we show how the cost of a structured light, range finding system can be substantially reduced by visually tracking the structured light source. To be able to recover range measurements using a structured light range finder the relative positions of the structured light source and light sensor must be known. This is typically achieved by carefully controlling the position of at least one of these components using expensive mechanical actuators. Instead, we propose that little or no control is placed on the positioning of these components and that the position of the structured light source is determined using visual feedback. A low-cost prototype system employing this principle is presented.