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Range Acquisition Hardware

The hardware used for range acquisition consists of a laser rangefinder, a rotating mirror to scan a vertical plane, a panning unit, a conventional PC, and a cart to move all the equipment from location to location. We have also included a 12 volt, deep-cycle battery with an inverter, allowing us to keep power cords out of the images. This section describes each in more detail.

**Figure 5:** The rangefinder, scanning mirror, and pan-tilt unit. The hi-ball tracking unit is on top, with 6 lenses looking at the ceiling.
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Laser Rangefinder
Supporting Hardware
- Scanning Mirror
- Pan-Tilt Unit
Complete Rangefinder System
Errors and Compensation
- Sources of Errors
- Calibrating and Correcting Errors from the 45 degrees Mirror and Panning Motor

Lars S. Nyland
1999-02-19