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Abstract

A 3-D range sensor for measuring range from the sensor to a target surface by imaging a plurality of points projected onto the target surface is disclosed. The range sensor comprises an optical system for imaging a first image and a second other image of each of the plurality of points on the target surface, whereby the second other image is obtained from a different predetermined location than the first image. The optical system comprises an optical medium for combining the first image and the second other image, at least a reflective means for imaging at least one of the first and the second other image and for reflecting it to the optical medium such that the first image and the second other image are combined and a converging lens system for focussing the first image and the second other image. A position sensitive light detector detects the focussed first image and the focussed second other image. Using a processor, a distance between the detected first image and the detected second other image is determined and based on the determined distance and a known spatial relation between the first and the second other image the range is then calculated.

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First Claim