A Laser Scanning Data Acquisition and Display System Based on ROS

摘要：

　　In this paper,a 3D environmental data acquisition and display system is designed based on laser scanning technology and ROS.We set up the data acquisition platform using a 2D laser range finder mounted on a pan-tilt,the acquired 3D point cloud data will be processed and visualized based on ROS.Pan-tilt control module is designed to drive pan-tilt with laser range finder to specified location.The laser scanning data acquisition,processing and visualization module is developed based on ROS to fulfill the functions like communicating with laser range finder,filtering point cloud data,transforming laser scanning data to point clouds in base coordinate system and visualizing it in RVIZ.Finally,the developed system was used in 3D environmental scanning experiments,and the results show the effectiveness of the system.

关键词： ROS Laser Scanning Three-dimensional Reconstruction Point Cloud Laser Range Finder

作者: WANG Rui LI Xiaoge WANG Shuo

作者单位: State Key Laboratory of Management and Control for Complex Systems,Institute of Automation,Chinese Academy of Sciences,Beijing 100190,P.R.China

会议类型: 国际会议

会议名称: The 33th Chinese Control Conference第33届中国控制会议

会议地点: 南京

会议语种:英文

页码: 8433-8437

在线出版日期: 2014-07-28（万方平台首次上网日期，不代表论文的发表时间）