Sensors and Methods for Mobile Robot Positioning

Chapter 4: Sensors for Map-Based Positioning 105
Figure 4.12: Two fan-shaped beams look down on moving vehicles for improved
target detection. (Courtesy of Schwartz Electro-Optics, Inc.)
width) is formed of each vehicle as it passes through the sensor’s field of view, opening the door for
numerous vehicle classification applications under the Intelligent Vehicle Highway Systems concept.
AutoSense II is an improved second-generation unit (see Figure 4.13) that uses an avalanche
photodiode detector instead of the PIN photodiode for greater sensitivity, and a multi-faceted
rotating mirror with alternating pitches on adjacent facets to create the two beams. Each beam is
scanned across the traffic lane 720 times per second, with 15 range measurements made per scan.
This azimuthal scanning action generates a precise three-dimensional profile to better facilitate
vehicle classification in automated toll booth applications. An abbreviated system block diagram is
depicted in Figure 4.14.
Figure 4.13: The AutoSense II is SEO's active-infrared overhead vehicle
imaging sensor. (Courtesy of Schwartz Electro-Optics, Inc.)