3D Scanning for 2D Laser Range Sensor by Rotating Curved Mirrors

Abstract

This paper describes 3D scanning by a 2D laser range sensor and rotating curved mirrors for taking 3D laser reflecting points of objects in real space. I developed a 3D laser range sensor system, in which the 2D laser range sensor and the curved mirrors rotated about the sensor. The 2D laser range sensor takes reflecting points in 2D plane and widefield area around the sensor. The rotating curved mirrors reflect the laser from the 2D laser range sensor, and change direction of the laser radially from 2D plane to 3D wide-field space around the 3D laser range sensor system. I designed the curved mirror by reflected and changed radiate direction of the laser from 2D plane to 3D space. I made up hardware and software of the sensor system to control the sensor system. I checked scanning accuracy of the curved mirror in the sensor system. I took actual reflecting points in real space experimentally by using the developed sensor system. The results have shown the usefulness on the real environmental measurements.