A time-of-flight line sensor: development and application

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Abstract
A new miniaturised 256 pixel silicon line sensor, which allows for the acquisition of depth-resolved images in real-time, is presented. It reliably and simultaneously delivers intensity data as well as distance information on the objects in the scene. The depth measurement is based on the time-of-flight (TOF) principle. The device allows the simultaneous measurement of the phase, offset and amplitude of a radio frequency modulated light field that is emitted by the system and reflected back by the camera surroundings, without requiring any mechanical scanning parts. The 3D line sensor will be used on a mobile robot platform to substitute the laser range scanners traditionally used for navigation in dynamic and/or unknown environments.

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