Low-cost 3D Laser Design and Evaluation with Mapping Techniques Review
Résumé
This paper presents a design of a low cost 3D laser scanner. It was developed by adding an additional axis of rotation to a planar (2D) laser scanner. By tilting the laser scanner with respect to the additional axis of rotation, a more even scan point distribution can be achieved. This paper provides an analysis of the 3D scanning performance that can be expected from such a configuration. Then a review of methods that could be appropriate for 3D mapping with such a low-cost 3D laser scanner design is provided. Experiments show that this setup can be used onboard small vehicles to perform simultaneous localization and mapping in three dimensions.
Domaines
Sciences de l'ingénieur [physics]
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Bauersfeld_Ducard_IEEE_SAS2019_acceptedversion.pdf (3.74 Mo)
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