Abstract

We present a high-speed range-imaging system based on a VLSI computational sensor developed in the CMU Computer Science Department. The VLSI range sensor is a custom chip consisting of an array of cells which combine photo-sensing and computation. Unlike conventional "step-and-repeat" lightstripe range finders, our sensor gathers range images in parallel as a scene is swept by a continuously moving plane of light. A prototype range-finding system has been built using a second-generation sensor and is capable of acquiring a 32 32 point frame of 3-D measurements in a millisecond --- two orders of magnitude faster than currently available range-finding systems. The accuracy and the repeatability of the acquired range data has been measured to be less than 0.2%. In this paper, we discuss the range-finding system and present experimental results that measure its performance. CMU Very Fast Range-Imaging System Shigeyuki Tada, Andrew Gruss and Takeo Kanade 10 October 1993 CMU-CS-93-179 T...

Citations