A new 3D optical triangulation sensor for robotics

  • Marques L
  • Nunes U
  • Almeida A
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Describes an optical range sensor that measures distance and
orientation from surfaces. The sensor uses three laser diodes and a
position sensitive detector (PSD) camera. The lasers are parallel to
each other in a way that their interception points with the surface
define a triangle. The coordinates of each intersection point imaged on
the camera can be determined by triangulation. The orientation of the
triangular surface patch can be calculated by the cross product of any
two sides of the triangle. Experimental results taken with a first
prototype show distance accuracy of about 0.05 mm, and orientation
accuracy of 0.1°. The prototype can take measures from 60 mm to 750

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  • L. Marques

  • U. Nunes

  • a.T. De Almeida

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