Construction and calibration of a low-cost 3D laser scanner with 360° field of view for mobile robots

Author

Martinez, Jorge L. ; Morales, Jesus ; Reina, Antonio J. ; Mandow, Anthony ; Pequeno-Boter, Alejandro ; Garcia-Cerezo, Alfonso

Author_Institution

Dipt. Ing. de Sist. y Autom., Univ. de Malaga, Malaga, Spain

fYear

2015

fDate

17-19 March 2015

Firstpage

149

Lastpage

154

Abstract

Navigation of many mobile robots relies on environmental information obtained from three-dimensional (3D) laser scanners. This paper presents a new 360° field-of-view 3D laser scanner for mobile robots that avoids the high cost of commercial devices. The 3D scanner is based on spinning a Hokuyo UTM-30LX-EX two-dimensional (2D) rangefinder around its optical center. The proposed design profits from lessons learned with the development of a previous 3D scanner with pitching motion. Intrinsic calibration of the new device has been performed to obtain both temporal and geometric parameters. The paper also shows the integration of the 3D device in the outdoor mobile robot Andabata.

Keywords

calibration; distance measurement; mobile robots; optical scanners; path planning; 2D rangefinder; 3D laser scanner; Andabata; Hokuyo UTM-30LX-EX two-dimensional rangefinder; environmental information; geometric parameter; intrinsic calibration; mobile robot navigation; outdoor mobile robot; temporal parameter; Calibration; Mobile robots; Optical sensors; Synchronization; Three-dimensional displays;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Technology (ICIT), 2015 IEEE International Conference on

Conference_Location

Seville

Type

conf

DOI

10.1109/ICIT.2015.7125091

Filename

7125091