3D Laser scanning system and 3D segmentation of urban scenes

• Published in: 2010 IEEE International Conference on Automation, Quality and Testing, Robotics (AQTR) Vol. 1; pp. 1 - 5
• Main Authors: Goron, L C, Tamas, L, Reti, I, Lazea, G
• Format: Conference Proceeding
• Language: English
• Published: IEEE 01.05.2010
• Subjects: 3D laser scanning system; 3D point cloud; Clouds; Humans; Large-scale systems; Laser modes; Layout; Mobile robots; Optical design; plane extraction; Robot sensing systems; Robotics and automation; Service robots; urban segmentation
• DOI: 10.1109/AQTR.2010.5520872
• ISBN: 1424467241; 9781424467242

This paper dwells upon the promising 3D technology for mobile robots and automation industry. The first part of the paper describes the design details of our own 3D Time of Flight (TOF) scanning system based on 2D laser range finder. The second part presents a specific segmentation technique for 3D outdoor urban environments by the common detection of plane models. In a few words, the technique separates the raw data into sparse and dense points, followed by the segmentation of the dense points into urban background and foreground objects. In the end we present some experimental results of real-world data-sets taken from the repository of the Leibniz University in Hannover, Germany.