2020 Volume 55 Issue 6 Pages 389-404
In the present study, a method to scan the front face toward a scanner of measured objects behind an obstacle around a scanner by a two-dimensional laser range scanner and mirrors is described. Distances and angles from the scanner to the measured objects through the mirrors to avoid the obstacle at a constant angle are measured radially by laser. Laser reflecting points on the front face of the measured objects behind the obstacle at a constant angle are gotten. A construction and a function about the suggested scan method using the scanner and the mirrors are shown. Coordinate systems are set to design the suggested scan method based on the construction and the function. Coordinates and angles of the obstacle and the mirrors, trajectories of the laser, installation of the scanner and the mirrors, and coordinates of the laser reflecting points on the front face of the measured objects are designed based on the coordinate systems. An experimental equipment was designed as described above to evaluate a performance of the suggested scan method. The experimental equipment was built using an actual scanner and mirrors. Experimental methodologies using the experimental equipment were set. Experimental results using the experimental methodologies were considered.
