Development of a 2D Laser Rangefinder Based 3D Scanning System for Wheeled Mobile Robot Applications

Year 2016, Special Issue (2016), 382 - 385, 01.12.2016

Gokhan Bayar Tugay Kadir Olguner

https://doi.org/10.18100/ijamec.271032

Abstract

In this paper, a 2D laser rangefinder based 3D scanning system is
proposed. The system developed is constructed using a laser scanner which has
capability to scan its 240⁰ surrounding in 0.35⁰
resolution. The third dimension is built by designing a rotating head on which a
2D laser scanner is mounted. A DC actuator is used to rotate the rotating head.
It is equipped with a high resolution quadrature encoder and a gearhead. The
rotational velocity of the rotating system is determined according to the working
frequency of the laser scanner. A mathematical model is developed to be able to
deal with the point cloud composed of the data coming from laser scanner and
encoder. The whole system is implemented in Matlab Simulink environment. The
algorithm developed to create 3D shape of the objects and working environment
is created to be used in real-time operations. The system proposed,
experimental setup developed and the experimental results are presented in this
paper in details.

Keywords

3D scanning, laser scanner, range finder, mobile robot, detection

References

• [1] Nishida, T., Obata, M., Miyagawa, H. and Ohkawa, F. Development of a sensor system for an outdoor service robot, Advances in Service Robotics, InTech, 2008, pp. 193-218.
• [2] Ohno, K., Kawahara, T. and Tadokoro, S. Development of 3D laser scanner for measuring uniform and dense 3D shapes of static objects in dynamic environment, Proc. IEEE Int. Conf. on Robotics and Biomimetics, Bangkok, Thailand, 2009, pp. 2161-2167.
• [3] Harrison, A. and Newman, P. High quality 3D laser ranging under general vehicle motion, Proc. IEEE Int. Conf. on Robotics and Automation, ICRA, Pasadena, CA, 2008, pp. 7-12.
• [4] Chen, J., Wu, X., Wang, M. Y. and Li, X. 3D shape modelling using a self-developed hand-held 3D laser scanner and an efficient HT-ICP point cloud registration algorithm, Optics and Laser Technology, vol. 45, 2013, pp. 414-423.
• [5] Martinez, J. L., Morales, J., Reina, A. J., Mandow, A., Boter, A. P. and Cerezo, A. G. Construction and calibration of a low-cost 3D laser scanner with 3600 field of view for mobile robots, Proc. IEEE Int. Conf. on Industrial Technology, Seville, Spain, 2015, pp. 149-154.
• [6] Fu, G., Menciassi, A. and Dario, P. Development of a low-cost active 3D triangulation laser scanner for indoor navigation of miniature mobile robots, Robotics and Autonomous Systems, vol. 60, 2012, pp. 1317-1326.
• [7] Oshima, S., Nagakura, S., Yongjin, J., Kawamura, A., Iwashita, Y. and Kurazume, R. Automatic planning of laser measurements for a large-scale environment using CPS-SLAM system, Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), Hamburg, Germany, 2015, pp. 4437-4444.
• [8] Jeong, Y., Pyo, Y., Iwashita, Y., Hasegawa, T. and Kurazume, R. High-precision three-dimensional laser measurement system by cooperative multiple mobile robots, Proc. IEEE/SICE Int. Sym. on System Integration, Fukuoka, Japan, 2012, pp. 198-205.
• [9] Gartner, H., Wagner, B., Heinrich, I. and Denier, C. 3D-laser scanning: a new method to analyse coarse tree root systems, Forest Snow Landscape and Research, vol. 82(1), 2009, pp. 95-106.