Tham khảo tài liệu 'autonomous robotic systems - anibal t. de almeida and oussama khatib (eds) part 5', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Manufacturer Model Modulation field of view pixels Accuracy Min. dist. Max. distance Acuity Res. AccuRange 4000 - 360 line 2000 0 50 feet ALSTa ELRF 3-M Pulsed lHz - 1 2 m 50 m 30 km ERIM Adaptive Suspension AMCW 14M Hz 80 Az 60 El 128 X 128 cm - m ERIM Autonomous Land AMCW 7MIz 80 Az 30 El 256 X 64 cm 39 m ERIM Intelligent Task AMCW 720Af fz 38 Az 38 El 256 X 256 mm - m ERIM US Postal Service AMCW 700M77z 35 Az 35 El 300 X 300 mm 1 m HDOS Imaging Laser Radar AMCW 15Afjiz 80 Az 60 El 3000 m - 460 m IMRA Laser Radar Sensor 90 line 128 1 m 25 m Leica ODIN 6 sr m - 150 m Odetics GMS AMCW 16Afffz 60 Az 60 El 128 X 128 18 mm 10 m Perceptron LASAR AMCW varies 60 Az 60 El 1024 X 1024 2 mm - 2-40 m Riegl LRI 20x5 Pulsed 5 Az 20 El 3 cm 2 m 80 m Riegl LMS-Q140-80 Pulsed 80 line 400 cm 2 m 350 m Riegl LD90-3300 Pulsed 1 5 cm 3 m 400 m Sandia Scannerless R. Imager AMCW ajustable 256 X 256 m - varies Schwartz EO LRF-200 Pulsed 360 line 30 cm 1 m 100 m Schwartz EO LADAR Pulsed 9ATHz 4 Az 10 El 25 X 65 m - 500 m Schwartz EO Treesense Pulsed 18AF7z 2 X 90 - 3 in 100 feet Schwartz EO Autosense II Pulsed ISA-Hz 10 Az 30 El 30 line 3 in 2 feet 50 feet Sick Optic PLS100 - 180 line 7 cm - 50 m Table 1. Main characteristics of some commercial laser rangefinders. Very long range. Used normally on military applications. 75 Figure 22. Triangulation system based on a laser beam and some kind of an imaging camera. position of each point on both images. The main problem of these systems is due to the identification of corresponding points on both images feature matching . To obtain a solution for this problem active triangulation systems replace the second camera by a light source that projects a pattern of light on to the scene. The simplest case of such a sensor like the one represented in Figure 22 use a laser beam and a one-dimensional camera. The distance L between the sensor and the surface can be measured by
