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

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