The design and realization of a three-dimensional video system by means of a CCD array

Design features and principles and initial tests of a prototype three-dimensional robot vision system based on a laser source and a CCD detector array is described. The use of a laser as a coherent illumination source permits the determination of the relief using one emitter since the location of the source is a known quantity with low distortion. The CCD signal detector array furnishes an acceptable signal/noise ratio and, when wired to an appropriate signal processing system, furnishes real-time data on the return signals, i.e., the characteristic points of an object being scanned. Signal processing involves integration of 29 kB of data per 100 samples, with sampling occurring at a rate of 5 MHz (the CCDs) and yielding an image every 12 msec. Algorithms for filtering errors from the data stream are discussed.