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lens

CCDarray

3D scene

A/D

FrameBuffer

VisionMachine

Algorithms

GraphicDisplay

DisplayProcessor

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transmit

receivenod andpansensorhead

z

LIght Detection And Range ( LIDAR )

range z = f ( phase change )intensity = g ( amplitude change)

amplitude modulated laser beam

( x, y )variedby nodand pan

albedo a

surface spot

3Dsurface

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ax + by + cz = dplane equation

w w w

(x , y , z )w w w

imaging rayyields twolinear equationsin the 3 unknowns( x , y , z )w w w

TRIANGULATING 3D SENSOR

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Computer Vision 2