A Novel Sensor System for Mobile Robot Using Moire Technique

Nowadays a major research issue of mobile robots is to develop a robust 3D environment sensing for navigation and task execution. To achieve this, a variety of techniques have been developed for the determination of the 3D scene geometric information such as stereo vision, laser structured light, laser range finder and so on. But these methods have many limitations. To overcome these limitations we introduce a new sensing algorithm, which is based on the moiré technique and stereo vision. To verify the performance of this sensor system we conducted a series of simulation for various simple environments. The result shows the feasibility of successful perception with several environments.