Experiments in object reconstruction using a robot-mounted laser range-finder

This paper presents a methodology to estimate the 2D reconstruction of an object on a given horizontal plane using a laser range-finder mounted on a mobile robot. To complete the reconstruction process, scans of the object from all sides are required and hence the robot must go completely around the object in a full circle. Since no apriori information about the object is used, the path planning for the robot must be done in an online fashion as more and more of the object is seen. Techniques for such trajectory planning to obtain all round views in a smooth fashion are put forth in this paper. As the object is being seen in parts, these parts must be registered together to form a consistent reconstruction. Scan matching using Iterative Closest Point (ICP) is used to stitch together the scans obtained from various viewpoints to form the required reconstruction. Experimental results for the reconstruction are provided in this paper. The 2D reconstruction can provide information about the area projected onto the ground by the object, thus giving cues about the shape of the object. This provides motivation for further work in the 3D reconstruction of moving objects.