KEYWORDS: Cameras, Image processing, Signal processing, Digital signal processing, Optical filters, Gaussian filters, Lenses, Imaging systems, Robotics, Video
Robust range estimation is one of the most important tasks in mobile robotics. This paper presents a new optical arrangement for utilizing the previously known 'depth from defocus' principle. The arrangement makes it possible to apply standard video lenses and camera modules for making a compact range camera system. Real-time processing is made possible with a single-board DSP card.
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