Title :
An inexpensive 3D scanner for indoor mobile robots
Author_Institution :
Autonomous Syst. Lab., CSIRO ICT Centre, Brisbane, QLD, Australia
Abstract :
A novel and inexpensive mechanism for acquiring 3D data suitable for indoor mobile robots is introduced. The scanner is currently capable of ranging up to 4 m with an accuracy of 0.05 m and costs less than 500 USD. The scans cover the whole 360 degrees around the robot at heights from floor level to 1 m. The data so obtained is particularly applicable to navigation, mapping and obstacle avoidance. The scanner consists of a webcam, visual encoder disk, angled laser line projector and determines range based on triangulation. The scan rate depends upon the frame rate of the camera and its rotation speed.
Keywords :
collision avoidance; laser ranging; mobile robots; Webcam; angled laser line projector; indoor mobile robots; inexpensive 3D scanner; obstacle avoidance; visual encoder disk; Cameras; Costs; Humans; Indoor environments; Intelligent robots; Mobile robots; Navigation; Robot sensing systems; Robot vision systems; USA Councils;
Conference_Titel :
Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on
Conference_Location :
St. Louis, MO
Print_ISBN :
978-1-4244-3803-7
Electronic_ISBN :
978-1-4244-3804-4
DOI :
10.1109/IROS.2009.5354173
