Utilizing range images from structured light for robot navigation.

Range images embody an array of distances to objects in an environment They can be constructed by sonar or by using laser rangefinders and are typically used in robotic applications This project involves the design and implementation of a laser ran.,efinder employing a color CCD camera to be used for robotic navigation. A vision-guhled robot must be fully aware of objects in its path and be able to utilize this information to identify navigable regions. As objects are being identified, they are integrated into a larger worldmap allowing the robot to be fully aware of its surroundings. This prevents the robot from colliding with objects in its path. Structured light vision techniques based on triangulation methods are used to obtain ran e height and shape measurements of objects. Laser rangefinders utilizing structured light \u27 techniques are excellent for building a map of a robot\u27s environment Regions in front of a camera can be mapped out quickly and efficiently