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DLR VR-SCAN: A versatile and robust miniaturized laser scanner for short range 3D-modelling and exploration in robotics

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5 Author(s)
Kielhofer, S. ; Institute for Robotics and Mechatronics, German Aerospace Center (DLR), Münchner Str. 20, 82234 Weßling, Germany ; Bahls, Thomas ; Hacker, F. ; Wusthoff, T.
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Precise and robust perception of the environment is crucial for highly integrated and autonomous robot systems. In this paper the dedicated design of a triangulation based laser range scanner optimized for 3D-modelling and autonomous exploration in robotics is presented. The presented laser scanner design is based on an extremely small MEMS scan head permitting a compact, lightweight and highly integrated implementation allowing for hand-eye operation. Special capabilities like variable range and confidence rating of the measuring values increase robustness. The design considerations and a prototype are described and experimental results are presented.

Published in:

Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on

Date of Conference:

25-30 Sept. 2011

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