Xây dựng hệ đo xa 3d sử dụng cảm biến laser dùng cho robot di động tự trị

• Tác giả: Anh Việt Đặng, Quang Vinh Trần, Thuận Hoàng Trần
• Ngôn ngữ: vie
• Ký hiệu phân loại: 621.389 Security, sound recording, related systems
• Thông tin xuất bản: Tự động hoá ngày nay, 2012
• Mô tả vật lý: 24-31
• Bộ sưu tập: Metadata
• ID: 621449

Tóm tắt

The paper introduces a 3D laser range finder. The system was designed for the localization and mapping of an autonomous mobile robot. It permitted to capture 3D environmental images surrounding robot with high quality. System was built on a 2D laser range finder combining with a pitching scan mechanism in order to create a vertical scanning effect. A data acquisition and processing program were developed creating high resolution images up to 40.000 pixels which is transmitted at a band rate of 38.400. The implementation of algorithms for object segmentation and feature extraction was also developed that meets the requirement of the in door mapping in the real time.