Development of Small-sized Omni-directional Laser Range Scanner and Its Application to 3D Background Difference

This paper presents the small-sized omni-directional 3D laser range scanner. This sensor can scan surrounding 3D form. The existing 2D laser range scanner is rotated in the direction of a pan angle by a turntable. The turntable is made by a stepping motor and a slip ring, a highly accurate positioning is possible. The accuracy of the sensor is pan angle resolution less than 0.5 degrees and measurement more than 300,000 points. By modeling, a surface model is made using the point data measured by this sensor. The modeling is to do connection of triangle polygon and calculation of normal vector. Previously, a target object was not able to be extracted from measured data. Extraction of the target object is possible according to the proposed 3D background difference.