Active Triangulation in the Outdoors: A Photometric Analysis

Active triangulation is a well established technique for collecting range points. This work performs a photometric analysis of relative irradiance expected at the camera sensor as a result of intended operating conditions and device parameters including laser power. The limiting effects of eye safety compliance, minimum realizable shutter times and pixel bit depth for linear response cameras are considered. Quantitative results are established determining dynamic range requirements on the camera, when exposure control is needed, and when laser return can be expected to produce the brightest pixels in the image.