Qualitative Real-Time Range Extraction for Preplanned Scene Partitioning Using Laser Beam Coding

  • Didi Sazbon
  • Zeev Zalevsky
  • Ehud Rivlin
Part of the Lecture Notes in Computer Science book series (LNCS, volume 3617)


This paper proposes a novel technique to extract range using a phase-only filter for a laser beam. The workspace is partitioned according to M meaningful preplanned range segments, each representing a relevant range segment in the scene. The phase-only filter codes the laser beam into M different diffraction patterns, corresponding to the predetermined range of each segment. Once the scene is illuminated by the coded beam, each plane in it would irradiate in a pattern corresponding to its range from the light source. Thus, range can be extracted at acquisition time. This technique has proven to be very efficient for qualitative real-time range extraction, and is mostly appropriate to handle mobile robot applications where a scene could be partitioned into a set of meaningful ranges, such as obstacle detection and docking. The hardware consists of a laser beam, a lens, a filter, and a camera, implying a simple and cost-effective technique.


Laser Beam Mobile Robot Dynamic Scene Obstacle Detection Predetermined Range 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2005

Authors and Affiliations

  • Didi Sazbon
    • 1
  • Zeev Zalevsky
    • 2
  • Ehud Rivlin
    • 1
  1. 1.Department of Computer ScienceTechnion – Israel Institute of TechnologyHaifaIsrael
  2. 2.School of EngineeringBar-Ilan UniversityRamat-GanIsrael

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