Real-time Sensing of Textured Range Images for Localization and Mapping

  　We constructed a range image sensor which consists of a commercially available multi-spot laser projector and two CCD cameras. And this high-speed range image sensor can obtain textured range images at real time.
  The sensor can obtain range images at 100 Hz and the measurement range is 800-2000mm. As for the application of this sensor , we can obtain 3D-map with color texture using sequence of range images and color images. Our future work is to speed up the application.

-Conference papers-

Hidetoshi Ishiyama, Kenji Terabayashi ， Kazunori Umeda ：“Real-time Sensing of Textured Range Images for Localization and Mapping”

Range image sensing using multiple spotlights and stereo camera

  A method of range image sensing by integration of active and passive methods using multiple spotlights is proposed. The active stereo method using multiple spotlights can sense fast and robustly, but it has few measurement points. The passive stereo method using stereo camera has many measurement points, but it cannot sense fast. Using the information of active stereo sensing makes the measurement time of passive stereo sensing by a stereo camera shorter and makes its accuracy higher. The effectiveness of the method is shown by experiments using a constructed range image sensor.