Locomotion Strategy Selection for a Hybrid Mobile Robot Using Time of Flight Depth Sensor

Table 1

Time of flight depth sensor major specifications.

Sensor model	Manufacturer	Range	FOV; ()	Resolution	Dimensions () mm	Weight (g)	Power (W)	Interface
Fotonic E70	Fotonic	0.1–10 m	70 × 53	160 × 120	80 × 80 × 86	800	16	Ethernet
MESA SR4000	MESA Imaging	Up to 5 or 10 m (optional)	44 × 35	176 × 144	65 × 65 × 76	470	24	USB 2.0 or Ethernet
BV-TOF	Brainvision Inc.	Up to 2 m	60 × 60	128 × 120	50 × 50 × 60	180	12	USB 2.0
Argos 3D p100	BLUETECHNIX Products	0.1–3 m	90 × 90	160 × 120	27 × 75 × 57	140	15	USB 2.0
Kinect	Microsoft	0.8–4 m; 0.5–4 m; (near mode)	57 × 43	640 × 480	73 × 280 × 73	1360	12	USB 2.0
SoftKinetic DS325	SoftKinetic	0.15–1 m; (nominal)	74 × 58	320 × 240	30 × 105 × 23	120	<2.5	USB 2.0