抄録
The conventional 3D-LIDAR was designed for using on robots or vehicles. The 3D-LIDAR is needed to be miniaturized in order to being carried by human for many hours. Therefore, the present author has developed a mobile 3D-LIDAR which has wide view and rotates at high speed. In order to get 3D point cloud of the environment around, it is necessary to synchronize the signal of motor with the signal of scanning laser range sensor. In this way, the author adopts hardware flow control. For the purpose of map generation, scan matching based on occupancy grid maps which is 2D-SLAM is adopted. For the scan matching, 2D point cloud is generated from projection of the 3D point cloud in the specific heights from the floor onto the horizontal plane. Finally, the 3D environmental map is generated by the coordinate transforms of measured 3D point with the obtained sensor position.
