An innovative compact, high-resolution lidar is proposed for 3D visualization for serpentine robots. The sensor provides a spatial resolution of approximately 0.5 cm, or better, in all three dimensions at a maximum range of 2-3 m. Such a fine resolution can be used by a serpentine robot to navigate around obstacles and detect targets of interest. The proposed sensor offers a wide field of view and a high frame rate. The sensor offers also a micro-Doppler capability that can be used in search and rescue missions to find survivors under rubble by detecting faint motions due to breathing. Phase I will show the feasibility of the proposed sensor concept through system analysis, computer simulation, a preliminary Phase I experiment to be conducted using a unique existing experimental system at Imaging Microsensors Inc., and the design of a proof-of-concept system. Phase I will also develop plans for the construction of the proof-of-concept prototype. In Phase II, the prototype will be built, installed, and demonstrated, if available, on a serpentine robot to be provided by the Government. If a serpentine robot is not available for the Phase II Demonstration, the sensor will be demonstrated on an alternative robot acceptable to the Government.
Keywords: 3d Lidar, 3d Imaging, 3d Visualization, Robot Vision, Collision Avoidance, Robot Navigation, Serpentine Robots, Manufacturing
