Title :
Characterization and modeling of a 3D scanner for mobile robot navigation
Author :
Koceski, Saso ; Koceska, Natasa ; Zobel, Pierlugi Beomonte ; Durante, Francesco
Author_Institution :
DIMEG, Univ. of L´´Aquila, L´´Aquila, Italy
Abstract :
In this paper an accurate physics-based simulation model of the 3D laser scanner, based on 2D range sensor (SICK LD-OEM1000) is presented. The model of the 2D sensor derives from the characteristics of the physical one and includes the uncertainty of the measurement, the dependency of the beam incidence angle and the target surface properties. Some experiments aimed to characterize the effects of the operation time, time autocorrelation, different object surface properties and orientations are also presented in this paper. 3D scanner virtual model, developed in rigid body dynamics environment, was verified experimentally and the results are reported.
Keywords :
mobile robots; optical scanners; path planning; robot dynamics; uncertain systems; 2D range sensor; 3D laser scanner; beam incidence angle; mobile robot navigation; rigid body dynamics environment; target surface property; uncertainty measurement; Automatic control; Automation; Mobile robots; Navigation; 3D scanner; characterization; incidence angle; noise model; reflectance;
Conference_Titel :
Control and Automation, 2009. MED '09. 17th Mediterranean Conference on
Conference_Location :
Thessaloniki
Print_ISBN :
978-1-4244-4684-1
Electronic_ISBN :
978-1-4244-4685-8
DOI :
10.1109/MED.2009.5164518
