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Design Of A Structured Light Sensor For In Situ Calibration, Fred W. Depiero, Reid L. Kress

Electrical Engineering

This paper highlights a ranging sensor that can be calibrated at standoffs of 1 to 3 feet with a depth of field of ≈ 1 ft. Tests at a 16" standoff have produced a 0.004 inch standard deviation in height measurement errors. The data density and field of view are programmable. The sensor is positioned robotically, allowing it to provide accurate, short-range measurements prior to manipulation tasks. The sensor head is relatively inexpensive (≈ $10k) and is designed for in situ calibration. This approach is intended to allow replacement components to be installed, calibrated, and validated without decontamination. Calibration, validation …