For High-Performance Measurements (original) (raw)

Abstract

Laser scanners, or laser radars (ladar), have been used for a number of years for mobile robot navigation and inspection tasks. Although previous scan- ners were sufficient for low speed applications, they often did not have the range or angular resolution necessary for mapping at the long distances. Many also did not provide an ample field of view with high accuracy and high precision. In this paper we will present the development of state-of- the-art, high speed, high accuracy, 3D laser radar techno- logy. This work has been a joint effort between CMU and K2T and Z+F. The scanner mechanism provides an unob- structed 360° horizontal field of view, and a 70° vertical field of view, Resolution of the scanner is variable with a maximum resolution of approximately 0.06 degrees per pixel in both azimuth and elevation, The laser is ampli- tude-modulated, continuous-wave with an ambiguity interval of 52m, a range resolution of 1.6mm, and a maxi- mum pixel rate of 625kHz. This paper will f...

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