Physical Sciences and Mathematics Commons^™

Triangulation Based Static Wide Angle Laser Scanning For Obstacle Detection, Kaveh Sahba, Kamal Alameh, Clifton Smith

Research outputs pre 2011

This paper demonstrates discrete laser spot projection over a wide angle using a novel cylindrical quasi-cavity waveguide, with no moving parts. Furthermore, the distance to each spot is calculated using active laser triangulation. The triangulation arrangement and the trajectory of principal rays are modelled using a system of linear equations based on optical geometry. Linear algebra is used to derive the unique baseline and outgoing angle of every projected beam. The system is calibrated by finding optimal values for uncertain instrumental parameters using constrained non-linear optimization. Distances calculated indoors result in accuracies of over 93%