3D Scene Reconstruction Based on a Moving 2D Laser Range Finder for Service-Robots

This paper presents the simulation of a three-dimensional laser range finder based on a two-dimensional laser scanner and different moving units. We examine and describe two methods differing in the way the laser range finder is mounted. In addition, a Pan-Tilt-Unit and a robot manipulator are used as moving platforms. The qualities of the laser scanner and the originating point density, which are very important for the system design, as well as the mathematical grounds for the reconstruction will be introduced and discussed in detail. In the next step, the resulting transformation matrixes and error compensation will be reviewed. Relevant to the moving units, the registration methods and the possible scan strategy are described and discussed. The concurrent application of both systems permits the viewing of the scene from different perspectives. The surroundings can be reconstructed with the help of mathematical transformations depending on the physical design, the resulting structure consists of unorganised point clouds. The achieved results can be visualised with OpenGL or Java3D and used for surface reconstruction. This way, typical robotic tasks like collision avoidance, grasp calculation, or handling of objects can be realised.