Knowledge Commons of Institute of Automation,CAS
A laser scanning data acquisition and display system based on ROS | |
Rui Wang; Xiaoge Li; Shuo Wang | |
2014-07-28 | |
会议名称 | Chinese Control Conference |
会议日期 | 2014.7.28—2014.7.30 |
会议地点 | Nanjing, China |
摘要 |
In this paper, a 3D environmental data acquisition and display system is designed based on laser scanning technology and ROS. We set up the data acquisition platform using a 2D laser range finder mounted on a pan-tilt, the acquired 3D point cloud data will be processed and visualized based on ROS. Pan-tilt control module is designed to drive pan-tilt with laser range finder to specified location. The laser scanning data acquisition, processing and visualization module is developed based on ROS to fulfill the functions like communicating with laser range finder, filtering point cloud data, transforming laser scanning data to point clouds in base coordinate system and visualizing it in RVIZ. Finally, the developed system was used in 3D environmental scanning experiments, and the results show the effectiveness of the system.
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文献类型 | 会议论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/21020 |
专题 | 复杂系统认知与决策实验室_先进机器人 |
作者单位 | Institute of Automation, Chinese Academy of Sciences |
第一作者单位 | 中国科学院自动化研究所 |
推荐引用方式 GB/T 7714 | Rui Wang,Xiaoge Li,Shuo Wang. A laser scanning data acquisition and display system based on ROS[C],2014. |
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文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
Wang-2014-A laser sc(330KB) | 会议论文 | 开放获取 | CC BY-NC-SA | 浏览 |
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