Two-dimensional depth data measurement using an active omni-directional range sensor

We have built an active omni-directional range range sensor that can obtain an omni-directional depth data through the use of a laser conic plane and a conic mirror. In the navigation of tile mobile robot, the proposed sensor system makes a laser conic plane by rotating the laser point source at hig h speed which creates a two-dimensional depth map, in real time? once an im age is captured. Also, since the proposed sensor system measures the actual distance of the target objects, it is able to apply the proposed sensor sy stem to other measurement tasks.