Abstract
This paper described the small-sized omni-directional 3D laser range scanner. This sensor can scan surrounding 3D form, because the existing 2D laser range scanner is rotated in the direction of a yaw angle by a turntable. Since the turntable is made by a steppingmoter and a slipring, a highly accurate positioning is possible. The accuracy of the sensor is yaw angle resolution less than 0.5 degrees and measurement more than 300,000 points. By modeling, a surface model is made using the point data obtained from this sensor. The modeling is to do connection of triangle patch and calculation of normal vector. Formerly, a target object can not be extracted from obtained data. However, extraction of the target object is possible according to background difference.
