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In this formula the h is constant distance between laser and camera. Theta is calulated calculated from:
So the final equation would be:
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The amount of noise is dependant of meters bandwidth. The bandwith is defined usually by the point where output voltage is dropped 3 dB or 30%. The noise is distributed over all frequencies but it can be reduced by filtering which limits bandwidth.
References
- Webcam Based DIY Laser Rangefinder. Todd Danko. Accessed: 10.4.2014
https://sites.google.com/site/todddanko/home/webcam_laser_ranger High Precision Laser Sensors in Robotics. Dragos George Calin, Intorobotics. Accessed 16.4.2014.
http://www.intorobotics.com/high-precision-laser-sensors-in-robotics/- Parallax Laser Range Finder, datasheet. Acessed Accessed 10.4.2014
http://www.parallax.com/sites/default/files/downloads/28044-LaserRangeFinder-v1.0.pdf - Scanning Laser Range Finder URG-04LX-UG01, specifications. Acessed 14.4.2014http://www.hokuyo-aut.jp/02sensor/07scanner/download/products/urg-04lx-ug01/data/URG-04LX_UG01_spec_en.pdf
- A receiver – TDC chip set for accurate pulsed time-of-flight laser ranging. Juha Kostamovaara, Sami Kurtti, Jussi-Pekka Jansson University of Oulu, Department of Electrical Engineering, Electronics Laboratory, FINLAND. Accessed 17.4.2014
http://www.minifaros.eu/files/PaperAC11_KostamovaaraJ_OuluUniversity.pdf - Range Finding Using Pulse Lasers, application note. Stefan Morgott, OSRAM. Accessed 17.4.2014
http://www.osram-os.com/Graphics/XPic2/00054201_0.pdf/Range%20Finding%20using%20Pulsed%20Laser%20Diodes.pdf - MTI instruments, triangulation. Accessed 16.4.2014
http://www.mtiinstruments.com/technology/triangulation.aspx
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