2026-06-01T22:07:25Zhttps://riuma.uma.es/rest/oai/requestoai:riuma.uma.es:10630/95632026-02-03T12:10:04Zcom_10630_2254col_10630_37959
RIUMA. Repositorio Institucional de la Universidad de Málaga
author
Martínez, Jorge L.
author
Morales-Rodríguez, Jesús
author
Reina-Terol, Antonio Jesús
author
Mandow, Anthony
author
Pequeño-Boyer, Alejandro
author
García-Cerezo, Alfonso José
2015-03-23T11:30:08Z
2015-03-23T11:30:08Z
2015-03-23
http://hdl.handle.net/10630/9563
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.
eng
Autómatas
Construction and Calibration of a Low-Cost 3D Laser Scanner with 360◦ Field of View for Mobile Robots
conference output
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URL
https://riuma.uma.es/bitstreams/f6ad21ba-28bc-43bd-9a74-100e71e7792d/download
File
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application/pdf
icit2015.pdf
URL
https://riuma.uma.es/bitstreams/a820d6ca-7897-4f78-8056-33f658a652e3/download
File
MD5
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text/plain
icit2015.pdf.txt