Design and Characterisation of a Full-Field Range Imaging Camera for Use in Mobile Applications

  • Ben Drayton
  • Dale A. CarnegieEmail author
  • Adrian A. Dorrington
Part of the Studies in Computational Intelligence book series (SCI, volume 480)


This chapter will outline the design and testing of a compact, configurable, indirect time of flight range imager. Potential applications include areas such as mobile robotics, where the introduction of robots into more complex environments necessitates the development of more advanced sensor systems. This chapter evaluates the range imager, particularly with regard to motion, and demonstrates that an improvement in the linearity of the motion error is possible by changing the order of frame measurements.


Mobile robot Range imaging 3D camera Time of flight Motion error 


  1. 1.
    R. Murphy, Trial by fire [rescue robots]. IEEE Robot. Autom. Mag. 11(3), 50–61 (2004)CrossRefGoogle Scholar
  2. 2.
    E. Broadbent, R. Stafford, B. MacDonald, Acceptance of healthcare robots for the older population: review and future directions. Int. J. Soc. Robot. 1(4), 319–330 (2009)CrossRefGoogle Scholar
  3. 3.
    D. Voth, A new generation of military robots. Intell. Syst. IEEE 19(4), 2–3 (2004)CrossRefGoogle Scholar
  4. 4.
    K. Daniel, R. Some, NASA advances robotic space exploration. Computer 36(1), 52–61 (2003)CrossRefGoogle Scholar
  5. 5.
    M.J. Cree, A.A. Dorrington, R. Conroy, A.D. Payne, D.A. Carneigie, The waikato range imager. Image Vis. Comput. N.Z. 233–238 (2006)Google Scholar
  6. 6.
    T. Ringbeck, T. Möller, B. Hagebeuker, Multidimensional measurement by using 3-D PMD sensors. Adv. Radio Sci. 5, 135–146 (2007)CrossRefGoogle Scholar
  7. 7.
    Canesta3D: Point Cloud Demo, using Canesta’s 320 × 200 3D Tof image sensor. Accessed 2 Mar 2012
  8. 8.
    J. McClymont, D. Carnegie, A. Jongenelen, B. Drayton, The Development of a Full-Field Image Ranger System For Mobile Robotic Platforms. Sixth IEEE International Symposium on Electronic Design, Test and Applications (DELTA), pp. 128–133, 17–19 Jan 2011Google Scholar
  9. 9.
    O. Lottner, A. Sluiter, K. Hartmann, W. Weihs, Movement Artefacts in Range Images of Time-Of-Flight Cameras. International Symposium on Signals, Circuits and Systems ISSCS, (2007), pp. 1–4Google Scholar
  10. 10.
    M. Lindner, A. Kolb, Compensation of Motion Artifacts for Time-Of-Flight Cameras. DAGM Workshop on Dynamical 3D Imaging, (Springer, Berlin, 2009), pp. 16–27Google Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 2013

Authors and Affiliations

  • Ben Drayton
    • 1
  • Dale A. Carnegie
    • 1
    Email author
  • Adrian A. Dorrington
    • 2
  1. 1.School of Engineering and Computer ScienceVictoria University of WellingtonWellingtonNew Zealand
  2. 2.School of EngineeringUniversity of WaikatoHamiltonNew Zealand

Personalised recommendations