Robot 3D Scanning and Mapping

This is a 3D scanning and mapping test for my ERP. Its basically mapping obstacles, then choosing the most free path. It scans in only 30 points, so its fairly poor resolution.

To learn more about Sharp IR rangefinders, go here:
http://www.societyofrobots.com/sensors_sharpirrange.shtml

And for more on the robot, ERP:
http://www.societyofrobots.com/robot_ERP.shtml

Category:

Science & Technology

Tags:

• robot
• 3D
• mapping
• scanning
• Axon
• sharp
• IR
• rangefinder
• ERP

[palmisano]

@shebotnov Just those links, really. The source code is all available for download.

[shebotnov]

@palmisano thats what I thought =) Thx. Didnt you write about this algo anywhere? Forums, site etc ?

Iam very interested in it.

[palmisano]

@shebotnov Ah! Well, the ERP takes multiple 2D scans and treats each as 2D. But as each scan is at a different head angle, it is in effect a 3D scan. (a 3D scan using a 2D algorithm, if that makes sense)

[shebotnov]

@palmisano Already did it yesterday :) You write about 2d mapping using array and wave front alg. You write then that 3d mapping is done with expensive 3d LIDARs. Thats why Iam curios how you do 3d mapping with simple IR finders.

[palmisano]

@shebotnov See the links in the info box for more info, and a tutorial.

[shebotnov]

@palmisano Is there a map I could see or an array where you store the data. Anywhere I get better description of your mapping algorithm? I will build my 1. robot soon and want it to 2d map my room. I would be very interested to know how you do it in 3d.

Serg

[palmisano]

@shebotnov It's taking measurements of 3D space, meaning locating objects in X, Y, and Z.

[shebotnov]

Why do you call it 3d scanning if its only 2d. Or am I mistaked?

[technology49]

you must fix the starting

[palmisano]

@DarkmoonUK nah, a compass is very inaccurate inside like this. Yeap, I program in C. And yea, its very inefficient scanning, but its just a test for something more advanced later on.