Abstract
For mapping with mobile robots the fast acquisition of dense point clouds is important. Different sensor techniques and devices exist for different applications. In this paper, we present a novel platform for rotating 3D and 2D LiDAR sensors. It allows for swiftly capturing 3D scans that are densely populated and that almost cover a full sphere. While the platform design is generic and many common LRF can be mounted on it, in our setup we use a Velodyne VLP-16 PUCK LiDAR as well as a Hokuyo UTM-30LX-EW LRF to acquire distance measurements. We describe the hardware design as well as the control software. We further compare our system with other existing commercial and non-commercial designs, especially with the FARO Focus3D X 130.
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Acknowledgments
This work was funded in part by the German Federal Ministry of Education and Research in the programme under grant 033R126C. We thank the anonymous reviewers for their helpful comments and Christoph Gollok for the simulation of the point distribution in Gazebo.
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Neumann, T., Dülberg, E., Schiffer, S., Ferrein, A. (2016). A Rotating Platform for Swift Acquisition of Dense 3D Point Clouds. In: Kubota, N., Kiguchi, K., Liu, H., Obo, T. (eds) Intelligent Robotics and Applications. ICIRA 2016. Lecture Notes in Computer Science(), vol 9834. Springer, Cham. https://doi.org/10.1007/978-3-319-43506-0_22
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DOI: https://doi.org/10.1007/978-3-319-43506-0_22
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