Modeling and Simulation of 3D Laser Range Scanner with Generic Interface for Robotics Applications

Saso Koceski ； Natasa Koceska

《Frontiers in Sensors》 1卷1期 (2013/01) Pp. 7-15

並列摘要

The aim of this work is to describe the physics-based simulation model of a custom 3D range laser scanner together with generic interface which offers the possibility for client applications to seamlessly interact with instances of the physical and virtual 3D range scanner. The physicsbased virtual model of the 3D range scanner is realized in rigid body dynamics environment provided by Open Dynamics Engine (ODE) library. In order to simulate the stepper motor used in the real scanner, the joints are virtually constrained and motorized with the parameters obtained from real device. For rays modeling the ray-cast method is used. The incidence angle and the surface properties of the object hit by the rays are also taken into the consideration. The sensor noise that represents the uncertainty of the measure is also taken into account. We have also tried to mimic the internal sensor control logic. In order to verify the developed model and the interface architecture, a simple client application for 3D data acquisition is developed and connected through the same interface to both ＂physical＂ and ＂virtual＂ device. The results of the evaluation are also reported and discussed.

並列關鍵字

Modeling ； Simulation ； 3D Range Scanner ； Rigid Body Dynamics ； Ray-cast Method