A flexible-resolution 3D laser scanning method based on DSP

Abstract

This paper is focused on a method about collecting data from 3D data collection system for mobile robot efficiently. The system consists of a 2D laser scanner LMS291 and a motor module, through planning the motorpsilas velocity profile, the scanner can get the objectpsilas three-dimensional information, aiming at the traditional scanning modepsilas fault in collecting efficiency, this paper presents a flexible-resolution 3D laser scanning method based on DSP, utilizing the high capacity of DSP, we divide the process of collecting and location to different steps, according to the information collected from the fore-step, DSP can plan the next steppsilas velocity profile, through planning velocity profile, the scanner can have a high scanning efficiency, compared with the traditional scanning approach, utilizing this method can get more useful information under the same condition.