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Gain-modulated Axi-Vision Camera (high speed high-accuracy depth-mapping camera)

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We describe a novel real-time depth-mapping camera, the Gain-modulated Axi-Vision Camera, where pulsed laser light is combined with a gain-modulated camera. Depth resolution of 2.4 mm was obtained, which is higher than the resolution of the previously reported depth-mapping Axi-Vision Camera. Pixel-by-pixel depth information of 768×493 pixels is obtainable at one half of the video frame rate (15 Hz). A short movie clip is attached that illustrates the depth measurement operation. The merits of the Gain-modulated Axi-Vision Camera are high-resolution, real-time operation, and a relatively simple optical system. These merits primarily arise from the ultra-fast exposure time using a pulsed laser diode.

©2004 Optical Society of America

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Figures (6)

Fig. 1.
Fig. 1. Block diagram of Gain-modulated Axi-Vision Camera.
Fig. 2.
Fig. 2. Modulation of the camera gain as a function of time. (a) Linearly ascending gain of the camera. (b) Linearly descending gain of the camera.
Fig. 3.
Fig. 3. Experimental setup of Gain-modulated Axi-Vision Camera.
Fig. 4.
Fig. 4. Output video signal versus distance to the object.
Fig. 5.
Fig. 5. Measurement using an object with five steps.
Fig. 6.
Fig. 6. (2.9 MB) Video obtained by the Gain-modulated Axi-Vision Camera. The object is a long-nosed “Tengu” mask on a turntable. (a) Video taken during the ascending gain of the camera, (b) video taken during the descending gain of the camera, (c) color-coded depth video, (d) color video of the object.

Equations (6)

Equations on this page are rendered with MathJax. Learn more.

G + = gt ,
I + = ρ I 0 g ( 4 π d 2 ) 2 ( t p + 2 d v ) ,
G = g ( T g 2 t ) ,
I = ρ I 0 g ( 4 π d 2 ) 2 [ T g 2 ( t p + 2 d v ) ] .
I + I = R ,
d = v 2 [ T g R 2 ( R + 1 ) t p ] .
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