Variable Pulse Mode Driving IR Source Based 3D Robotic Camera

jongmoo @ skku.edu There has shown a significant interest in a high performance of, at the same time, a compact size and low cost of, 3D sensor, in reflection of a growing need of 3D environmental sensing for service robotics. One of the important requirements associated with such a 3D sensor is that sensing does not irritate or disturb human in any way while working in close and continuous contact with human. Furthermore, such a 3D sensor should be reliable and robust to the change of environmental illumination as service robots are required to work day and night. This paper presents a 3D IR camera with variable pulse mode driving source that is human friendly and robust enough for application to home service robots. IR pulse mode driving method is chosen as the sensing medium in order to meet the requirement of human friendliness and robustness to illumination change. A Digital Mirror Device (DMD)is employed to generate and project variable patterns at a high speed for real-time operation. In this paper, DMD is positioned to reflect IR directly so that efficiency is maximized. In implementation, we emphasize the integration of modular components to support real-time sensing and compactness in size. The experimental results have demonstrated that the implemented 3D IR Camera is robust to illumination change, in addition to its advantage of human friendliness. 1