By Topic

Characterization and modeling of a 3D scanner for mobile robot navigation

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

4 Author(s)
Saso Koceski ; Applied Mechanics laboratory, DIMEG, University of L'Aquila, 67040 Roio Poggio (AQ), Italy ; Natasa Koceska ; Pierluigi Beomonte Zobel ; Francesco Durante

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.

Published in:

Control and Automation, 2009. MED '09. 17th Mediterranean Conference on

Date of Conference:

24-26 June 2009