A varying density 3D laser scanner for unmanned ground vehicles mapping and obstacle detection

In this paper a 3D laser scanning sensor design specifically tailored for mobile UGVs (Unmanned Ground Vehicles) has been proposed. The system exhibits interesting capabilities such as high speed continuous real-time point cloud generation in a cost effective way. The system is based on the fabrication of a rotating laser system, as an improvement of an off-the-shelf laser scanner, capable of generating 3D maps from the surrounding. The system is able to detect an obstacle of 10 centimeters at 10 meters in front of vehicle, making the highest density of points acquired by the sensory system point to the obstacle, so defining an angle of inclination.