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This paper discusses a high-speed range image sensor which can obtain textured range images in real time. One of the important applications of this system is an outside sensing for mobile robots. The proposed system consists of a commercially available laser projector and two CCD cameras. The number of pixels of a range image is 361 and the measurement range is 800-2000mm. Experimental results show 40Hz sensing of textured range images. The effectiveness of the proposed system is verified by experiments. As a major conclusion, the constructed sensing system obtains real-time textured range images with commercially available devices.

1A1-D19 Construction of real-time sensing system of textured range images with a high-speed range image sensor and a color camera