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

Masahiro Kawakita, Keigo Iizuka, Rei Iwama, Kuniharu Takizawa, Hiroshi Kikuchi, and Fumio Sato

Open Access Open Access

Abstract

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.

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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.

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Fig. 3.
Fig. 3. Experimental setup of Gain-modulated Axi-Vision Camera.

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Fig. 4.
Fig. 4. Output video signal versus distance to the object.

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Fig. 5.
Fig. 5. Measurement using an object with five steps.

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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.

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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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