An inexpensive 3D scanner for indoor mobile robots

Authors:
Julian Ryde
Affiliations:
Autonomous Systems Laboratory, CSIRO ICT Centre, Brisbane, Australia
Venue:
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Year:
2009

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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 4m with an accuracy of 0.05m and costs less than 500USD. The scans cover the whole 360 degrees around the robot at heights from floor level to 1m. 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.