3D environment perception using stereo infrared light sources and a camera

Sooyong Lee, Jae Bok Song

Research output: Contribution to journalArticlepeer-review

1 Citation (Scopus)


This paper describes a new sensor system for 3D environment perception using stereo structured infrared light sources and a camera. Environment and obstacle sensing is the key issue for mobile robot localization and navigation. Laser scanners and infrared scanners cover 180° and are accurate but too expensive. Those sensors use rotating light beams so that the range measurements are constrained on a plane. 3D measurements are much more useful in many ways for obstacle detection, map building and localization. Stereo vision is very common way of getting the depth information of 3D environment. However, it requires that the correspondence should be clearly identified and it also heavily depends on the light condition of the environment. Instead of using stereo camera, monocular camera and two projected infrared light sources are used in order to reduce the effects of the ambient light while getting 3D depth map. Modeling of the projected light pattern enabled precise estimation of the range. Two successive captures of the image with left and right infrared light projection provide several benefits, which include wider area of depth measurement, higher spatial resolution and the visibility perception.

Original languageEnglish
Pages (from-to)519-524
Number of pages6
JournalJournal of Institute of Control, Robotics and Systems
Issue number5
Publication statusPublished - 2009 May


  • Infrared camera
  • Range sensing
  • Stereo structured light sources

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Applied Mathematics


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