A new design for a hardware system for photometric stereo-based robotic vision is proposed. In addition, a onefactor-at-a-time sensitivity analysis is performed to determine the optimal working distance for varying depths of field and feature depths for the photometric stereo (PS) sensor. The optimal working distance is defined as the distance at which the PS system is able to robustly achieve the best focus measure throughout the entire image. A cubic equation relating focus measure to working distance is found for each feature depth, and it is shown that good focus is achieved within the targeted range of working distances and feature depths. A validation study was also performed to show the results of PS using the designed sensor.
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