Autonomous robotic systems need an equipment like a human eye for their movement. In this study a 3D laser scanner has been designed and implemented for those autonomous robotic systems. In general 3D laser scanners are using 2 dimension laser range finders that are moving on one-axis (1D) to generate the model. In this study, the model has been obtained by a one-dimensional laser range finder ...

This paper describes an algorithm for feature extraction from measurements collected by laser range finder. The features are straight lines and corners present in the environment. The measurements are processed in the sensor coordinate system to identify an invariant parameter for the present straight lines that indicate their position and orientation. A second parameter is needed to determine ...

This work presents a self-localization system suited for robots roaming in everyday indoor environments such as offices or residential buildings. Thus, it has to cope with environments that are typically not a priori modelled or in any way specially prepared, but are places where people move around and objects change position from time to time. The proposed localization system utilizes a panora...

The development of sensing subsystems is crucial to the operation of highly autonomous robots in harsh environments. This paper will describe the methodologies used and the preliminary measurement campaigns, with the relevant results obtained, which were carried out for the realisation of a high performance laser range finder. The sensor will be installed on an autonomous rover (RAS), lodged on...

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Detecting and tracking people in populated environments has various applications including, robotics, healthcare, automotive, security and defence. In this paper, we present an algorithm for people detection and tracking based on a two dimensional laser rage finder (LRF). The LRF was mounted on a mobile robotic platform to scan a torso section of a person. The tracker is designed to discard spu...

This paper presents a high quality, low cost 3D laser range finder designed for autonomous mobile systems. The 3D laser is built on the base of a 2D range finder by the extension with a standard servo. The servo is controlled by a computer running RT-Linux. The scan resolution ( 5 cm) for a complete 3D scan of an area of 150 (h) 90 (v) degree is up to 115000 points and can be grabbed in 12 seco...