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Annual Conference Towards Autonomous Robotic Systems

TAROS 2016: Towards Autonomous Robotic Systems pp 314–326Cite as

How to Build and Customize a High-Resolution 3D Laserscanner Using Off-the-shelf Components

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Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 9716))

Abstract

3D laserscanners are well suited sensors for different perception tasks like navigation and object recognition. However, ready-to-use 3D laserscanners are expensive and offer a low resolution as well as a small field of view. Therefore, many groups design their own 3D laserscanner by rotating a 2D laserscanner. Since this whole process is done frequently, this paper aims at fostering other groups’ future research by offering a list of necessary hardware including an online-accessible mechanical drawing, and available software. As it is possible to align the rotation axis and the 2D laserscanner in many different ways, we present an approach to optimize these orientations. A corresponding Matlab toolbox can be found at our website. The performance of the 3D laserscanner is shown by multiple matched point clouds acquired in outdoor environments.

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Notes

  1. 1.

    http://velodynelidar.com.

  2. 2.

    https://www.tu-chemnitz.de/etit/proaut/3dls.html.

  3. 3.

    http://www.ibeo-as.com.

  4. 4.

    http://www.hokuyo-aut.jp.

  5. 5.

    http://www.sick.com.

  6. 6.

    http://wiki.ros.org/hokuyo_node.

  7. 7.

    http://wiki.ros.org/sicktoolbox.

  8. 8.

    http://www.robotis.com.

  9. 9.

    http://wiki.ros.org/dynamixel_controllers.

  10. 10.

    http://www.senring.com.

  11. 11.

    http://wiki.ros.org/laser_assembler.

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Author information

Authors and Affiliations

  1. TU Chemnitz, 09126, Chemnitz, Germany

    Stefan Schubert, Peer Neubert & Peter Protzel

Authors
  1. Stefan Schubert
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  2. Peer Neubert
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  3. Peter Protzel
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Corresponding author

Correspondence to Stefan Schubert .

Editor information

Editors and Affiliations

  1. Sheffield Hallam University, Sheffield, United Kingdom

    Lyuba Alboul

  2. University of Sheffield, Sheffield, United Kingdom

    Dana Damian

  3. University of Sheffield, Sheffield, United Kingdom

    Jonathan M. Aitken

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© 2016 Springer International Publishing Switzerland

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Schubert, S., Neubert, P., Protzel, P. (2016). How to Build and Customize a High-Resolution 3D Laserscanner Using Off-the-shelf Components. In: Alboul, L., Damian, D., Aitken, J. (eds) Towards Autonomous Robotic Systems. TAROS 2016. Lecture Notes in Computer Science(), vol 9716. Springer, Cham. https://doi.org/10.1007/978-3-319-40379-3_33

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  • DOI: https://doi.org/10.1007/978-3-319-40379-3_33

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-40378-6

  • Online ISBN: 978-3-319-40379-3

  • eBook Packages: Computer ScienceComputer Science (R0)

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