RT Conference Proceedings
T1 Construction and Calibration of a Low-Cost 3D Laser Scanner with 360◦ Field of View for Mobile Robots
A1 Martínez, Jorge L.
A1 Morales-Rodríguez, Jesús
A1 Reina-Terol, Antonio Jesús
A1 Mandow, Anthony
A1 Pequeño-Boyer, Alejandro
A1 García-Cerezo, Alfonso José
K1 Autómatas
AB Navigation of many mobile robots relies on environmental information obtained from three-dimensional (3D) laser scanners. This paper presents a new 360◦ field-of-view 3D laser scanner for mobile robots that avoids the high cost of commercial devices. The 3D scanner is based on spinning a Hokuyo UTM- 30LX-EX two-dimensional (2D) rangefinder around its optical center. The proposed design profits from lessons learned with the development of a previous 3D scanner with pitching motion. Intrinsic calibration of the new device has been performed to obtain both temporal and geometric parameters. The paper also shows the integration of the 3D device in the outdoor mobile robot Andabata.
YR 2015
FD 2015-03-23
LK http://hdl.handle.net/10630/9563
UL http://hdl.handle.net/10630/9563
LA eng
NO Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech
DS RIUMA. Repositorio Institucional de la Universidad de Málaga
RD 21 ene 2026