Compact three-dimensional camera for robot and vehicle guidance

A very compact 3-D range sensor for robot and vehicle guidance is described. A dual aperture mask in a camera lens is used to transform a small commercially available CCD video camera into a ranging sensor. An active system using a projected laser beam provides a 360° range map which can be used to plan trajectories, either for robots or autonomous vehicles. Good quality panoramic intensity and 3-D images were obtained. Accuracy, speed of acquisition, and cost are discussed. Experimental results are presented.