2P1-C16 3D SOKUIKI Sensor Using Unlimited Rotating Device

A Survey of Low-Cost 3D Laser Scanning Technology

“…In [48], the density distributions of the 3D point clouds collected by a rotating 2D LiDAR and a pitching 2D LiDAR are analyzed, and a conclusion is drawn that the sampling points collected by the laser beam perpendicular to the rotation axis is the sparsest, while the sampling points collected by the laser beam parallel to the rotation axis is the densest. A similar conclusion also has been drawn in [49]. Therefore, when a rotating 2D LiDAR or a pitching 2D LiDAR is used, the attitude of the rotation axis of the 2D LiDAR should be adjusted, so that we can make the denser area of the 3D point cloud covers the more important scanning objects.…”

“…If the 2D LiDAR is heavy or the output torque of the selected motor is insufficient, the motor will be overloaded. The use of a gear reducer in the prototype (such as the prototype developed by Tatsuro Ueda et al [49,92]) can increase the output torque, while gear transmission errors can also be caused. A harmonic reducer may be more precise, it is also more expensive.…”

“…Therefore, the synchronization error is unavoidable. In [22,24,48,49,52,53,62,69,[92][93][94][95][96][97][98], the calibration of the synchronization between the 2D LiDAR and the motor shaft are done by using an angular position sensor (such as an encoder), while the cost of the sensor cannot be ignored. In [99], a more economical method has been proposed, and the cost of the angular position sensor can be avoided.…”

“…In addition to the above two core issues, namely accuracy and real-time performance, for a moving 2D LiDAR, there are some other research topics. For example, the density distribution of the 3D point cloud collected by a moving 2D LiDAR [48][49][50][51][52][53], the fusion of Figure 1. Left: map built by 2D LiDAR Slamtec RPLIDAR A1 [6].…”

“…In addition to the above two core issues, namely accuracy and real-time performance, for a moving 2D LiDAR, there are some other research topics. For example, the density distribution of the 3D point cloud collected by a moving 2D LiDAR [48][49][50][51][52][53], the fusion of a moving 2D LiDAR and 2D SLAM [54][55][56][57], the detection of obstacles in front of the vehicle or road edge by a push-broom 2D LiDAR [58][59][60][61], and the fusion of a moving 2D LiDAR and camera [62][63][64][65][66][67], etc.…”