High-density and homogeneous mapping using a motion controlled lidar

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2023-1-25

Author

Canbolat, İsmail Melih

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LiDAR is a commonly used method for mapping and obstacle detection in various robotics applications. With the advancement of technology, 3D scanning LiDAR sensors became widely available. Most 3D scanning LiDAR sensors have a 360° horizontal field of view, but they have a limited vertical field of view which is determined by the desired vertical scanning resolution and the number of laser scan layers. Limited number of horizontal layers in a LiDAR sensor introduces large gaps in the obtained point cloud map and the limited vertical field of view prevents stationary LiDAR sensors from being able to scan the environment completely. In this thesis work, a 3D scanning Velodyne Puck is used in a designed, motion controlled, two axis gimbal system. This motion control capability makes it possible to move the sensor in such a way that a more homogeneous, high-density point cloud map of the environment with increased and controlled field of view can be obtained. This improved point cloud map provides a good source of information to be used for object identification and SLAM algorithms. Additionally, with the help of the developed motion control algorithms for the designed system, the density distribution of the point cloud map obtained by the designed system was successfully focused on certain regions by increasing the density of the point cloud data at these regions.

Subject Keywords

Lidar, Velodyne Puck, Ros, Webots

URI

https://hdl.handle.net/11511/102516

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Graduate School of Natural and Applied Sciences, Thesis

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Citation Formats

İ. M. Canbolat, “High-density and homogeneous mapping using a motion controlled lidar,” M.S. - Master of Science, Middle East Technical University, 2023.