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Fast acquiring and analysis of three dimensional laser range data

: Surmann, H.; Lingemann, K.; Nüchter, A.; Hertzberg, J.

Ertl, T.:
Vision Modeling and Visualization 2001. Proceedings
Amsterdam: IOS Press, 2001
ISBN: 1-58603-221-6
ISBN: 3-89838-028-9
International Fall Workshop Vision, Modeling and Visualization (VMV) <6, 2001, Stuttgart>
Fraunhofer AIS ( IAIS) ()
3D laser range finder; 3D-laser scanner; real-time linux; autonomous mobile robot

This paper presents a precise (~1cm), lightweight (5kg) and low cost 3D laser range finder for the fast gaging (<1.4 sec) of environments. Real-time algorithms for the data reduction, 3D-object segmentation are also presented. A special designed suspension unit, a standard servo motor and a standard 2D range finder are used to build the 3D scanner. Maximal resolutions e.g. 180 (h) x 90 (v) degree with 194400 points are grabbed in 8.1 seconds and low resolutions with 16200 points are grabbed in 1.4 seconds. While scanning, different online algorithms for line and surface detection are applied to the data. 3D-Object segmentation and detection are done offline after the scan. With the proposed approach, a precise, reliable, mobile, low cost, and real-time capable 3D sensor for the contact-less measuring of environments without additional landmarks is available.