Characterization and Modeling of a 3D Scanner for Mobile Robot Navigation

Koceski, Saso and Koceska, Natasa and Zobel, Pierluigi Beomonte and Durante, Francesco (2009) Characterization and Modeling of a 3D Scanner for Mobile Robot Navigation. Med 2009 17th Mediterranean Conference on Control Automation Vols 13. pp. 79-84.

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In this paper an accurate physics-based simulation model of the 3D laser scanner, based on 2D range sensor (SICK LD-OEM1000) is presented. The model of the 2D sensor derives from the characteristics of the physical one and includes the uncertainty of the measurement, the dependency of the beam incidence angle and the target surface properties. Some experiments aimed to characterize the effects of the operation time, time autocorrelation, different object surface properties and orientations are also presented in this paper. 3D scanner virtual model, developed in rigid body dynamics environment, was verified experimentally and the results are reported.

Item Type: Article
Subjects: Natural sciences > Computer and information sciences
Engineering and Technology > Electrical engineering, electronic engineering, information engineering
Engineering and Technology > Other engineering and technologies
Divisions: Faculty of Computer Science
Depositing User: Saso Koceski
Date Deposited: 15 Nov 2012 08:22
Last Modified: 20 Dec 2012 09:36

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