Capturing device for dense point cloud of indoor people using horizontal LIDAR and pan rotation of vertical LIDAR with mirrors

This paper reports construction of a new device to capture 3D point cloud on human body. The device consists of a horizontal LIDAR, a vertical LIDAR and pan rotational mechanism. The device contain three main features. 1) The device can capture point cloud in large area using combination of the vertical LIDAR and the rotational mechanism. 2) The device can measure dense point cloud using mirror reflection and focus control of pan rotation. 3) The device keeps tracking the human using horizontal LIDAR. The experiment to confirm performance of the device was conducted. The experiments demonstrated that our device can measure dense point clouds on human body in indoor environments.