Three Dimensional Map Construction Using Scanning Laser Range Finder
碩士 === 長庚大學 === 機械工程研究所 === 96 === The purpose of this thesis is to develop a three-dimensional environment reconstruction system using a laser range finder. The original design of URG-04LX laser range finder, provided by Hokuyo Inc., is efficient in providing two-dimensional distance information. T...
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2008
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| Online Access: | http://ndltd.ncl.edu.tw/handle/30980132854677649694 |
| Summary: | 碩士 === 長庚大學 === 機械工程研究所 === 96 === The purpose of this thesis is to develop a three-dimensional environment reconstruction system using a laser range finder. The original design of URG-04LX laser range finder, provided by Hokuyo Inc., is efficient in providing two-dimensional distance information. To enhance the capability of the device, we developed a rotation mechanism to provide it a sweep motion for stereo data collection. Furthermore, geometric-relation equations are derived that includes parameters of misalignment that are unavoidable in manufacturing and assembling. The parameters are derived according to practical data measurement of three relatively-perpendicular planes. The derivation is formulated as an optimization problem solved using the Nelder-Mead simplex algorithm. Validity of the calibration scheme is demonstrated by the reconstruction of several real-world scenes.
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