An inexpensive 3D scanner for indoor mobile robots

摘要

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