走査領域を制御可能な広FoV 3D-LIDARの開発

抄録

This paper describes the design, system of the controllable point density and evaluation of a 3D-LIDAR. 3D-LIDAR became popular to autonomous robot because of its accuracy of recognition and the ability to obtain 3D-points of surrounding environment. However, previous 3D-LIDAR has narrow vertical view angle that is difficult to detect close 3D-object such as human. In addition, the more distance object is, the more sparse the points will be, so it will be difficult to detect distant object accurately. Our 3D-LIDAR consists of 3 titled 2D-LIDAR on the table. By spinning this device, we could manage to scan data from 98 degree vertical view angle. Furthermore, our 3D-LIDAR could heighten point density in any area to change rotation speed that is able to detect more distance object.