Synthetic laser range imagery using Z-buffering

Abstract

A technique for simulating laser range imagers using Z-buffering and readily available 3D graphics hardware is described. This approach utilizes the graphics hardware features available for hidden surface removal to achieve faster than real-time speed. How Z-buffering works in graphics workstations, how it can be adapted to provide a simulation of laser range images, and the performance characteristics of this simulation on a computer are shown.