文档介绍：Proceedings of the 32nd ISR(International Symposium on Robotics), pp. 153 - 158, 19-21 April 2001
A 3D laser range finder for autonomous mobile robots
Hartmut Surmann, Kai Lingemann, Andreas Nuchter¨ and Joachim Hertzberg
GMD - German National Research Center for Information Technology,
AiS - Institute for Autonomous intelligent Systems
53754 Sankt Augustin, Germany
 
E-mail: surmann,lingemann,nuechter,hertzberg ¡ ***@.
Abstract
This paper presents a high quality, low cost 3D laser range
finder designed for autonomous mobile systems. The 3D
laser is built on the base of a 2D range finder by the exten-
sion with a standard servo. The servo is controlled by -
puter running RT-Linux. The scan resolution ( ¢ 5 cm) for a
complete 3D scan of an area of 150 (h) £ 90 (v) degree is
up to 115000 points and can be grabbed in 12 seconds. Stan-
dard resolutions . 150 (h) £ 90 (v) degree with 22500
points are grabbed in 4 seconds. While scanning, different
online algorithms for line and surface detection are applied
to the data. Object segmentation and detection are done off-
line after the scan. The implemented software modules de- Figure 1: The mobile robot equipped with 3D laser range finder.
tect overhanging objects blocking the path of the robot. With
the proposed approach a cheap, precise, reliable and real-time A few number of groups build 3D laser rang