A Line Structured Light Visual Sensor for Road Obstacle Detection

A new line structured light visual sensor is proposed. The line structured light for remote measurement is generated by high power semiconductor laser point source with miniature piezo fast steering mirror. The mathematical model of the line structured light sensor and calibration method is described. By analyzing the line profiles of structured light under different obstacles of road, the mathematical model of line structured light is obtained. Finally, the possibility of using the line structured light visual sensor to detect road obstacle is proposed.