A LED-array-based range-imaging sensor for fast three-dimensional shape measurements

Janusz Marszalec, Risto Myllylä, Jorma Lammasniemi

Research output: Contribution to journalArticleScientificpeer-review

9 Citations (Scopus)


An angular scan triangulation range sensor using an integrated array of light-emitting diodes (LEDs) and a lateral-effect position-sensing detector is described here.
A range map is obtained by means of fast electronic scanning of the LEDs of the array. No moving parts are needed for the scanning. The sensor consists of a transmitter, a receiver and control electronics. The source used by the transmitter module is an array of 32 LED chips.
Collimating optics are attached to the source. The receiver includes focusing optics and a one-dimensional position-sensing detector. The transmitter and receiver modules are connected to a computer, which controls the operation of the transmitter by supervising the sequential scanning of the sources in the array and determining the speed of scanning, and of the receiver by providing gain control, reading of the detector output signals and executing signal processing.
The sensor output is a set of object surface coordinates or other parameters describing the shape, size and position of the object. In the tests the sensor has been used for profile measurements of cylindrical objects. For a wooden log surface placed at a distance of about 1200 mm, the diameter is estimated with an accuracy better than 2%.
Based on the experimental tests of the scanner within the range 0.2–2 m, it is found that the performance of the sensor is sufficient for many applications in profile measurement and obstacle detection in robotics and machine automation.
Original languageEnglish
Pages (from-to)501-505
JournalSensors and Actuators A: Physical
Issue number1-3
Publication statusPublished - 1995
MoE publication typeA1 Journal article-refereed


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