1) Voters who have passports, or passport cards, may use them to identify themselves. Said passports need to be registered at time of registration or re-registrtion.
2) Voters who have drivers licenses that have the RealID feature may be used to identify themselves. The address on the license needs to match the address the voter provided at registration or re-registration.
3) Voters who have DMV-issued identity cards may use them to identify themselves. Proof of citizenship is required; see the valid forms accepted by the US Post Office for passports. The address on the identity card needs to match the address the voter provided at registration or re-registration.
Ideally, the DMV would make identity cards available at no charge, or a reduced charge. To make up the loss, the DMV could add a small tax surcharge to full license registrations so that the result is revenue neutral.
There is no excuse not to have positive voter ID.
The poor would be served by the DMV, for both ID and voter registration. The differently abled can be serviced by mobile ID registration stations at nursing homes, community centers, hospices, churches, and hospitals, with the schedule published in advance.