Semi-automatic 3D CAD model generation of as-built conditions of real environments using a visual laser radar

The development of special, active physical sensor systems for the direct 3D measurement of environment geometry is gaining more and more importance, as it is the basis for realising many applications in the area of automation technology. The basis for the realisation of such tasks is an image of the environment in 3D, which reflects as accurately as possible the "as-built" condition of the object or environment. A visual laser radar is used for a non-contact and accurate survey of an area which is completely measured in three dimensions and visually imaged within a few seconds. This information forms the basis for the generation of real models of the 3D environment. This paper describes the design and function of the developed visual laser radar in detail, adapted to an environmental survey at medium ranges