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3D Laser Range Finder Group 27 Christian Conrose, Andrew Watson, Jon Ulrich

3D Laser Range Finder Group 27 Christian Conrose, Andrew Watson, Jon Ulrich. LIDAR. LI ght D etection A nd R anging. Motivation. AUVSI Competitions for Robotics Club Augment Computer Vision Capabilities Mobile 3D range finder Visually represent range data. Goals.

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3D Laser Range Finder Group 27 Christian Conrose, Andrew Watson, Jon Ulrich

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  1. 3D Laser Range Finder Group 27 Christian Conrose, Andrew Watson, Jon Ulrich

  2. LIDAR LIghtDetection And Ranging

  3. Motivation • AUVSI Competitions for Robotics Club • Augment Computer Vision Capabilities • Mobile 3D range finder • Visually represent range data

  4. Goals • Create Accuracte 3D Sensor • Indoor/Outdoor Operation • High Update Rate • Longevity • Occams Razor

  5. SpecificationsRequirements

  6. Process • Rotating 2D lidar sensor • Event driven system • Rotation adds 3rd dimension

  7. Lidar Selection

  8. Laser UTM-30LX • 30 meter range • Serial Interface • C++ Library • Scan Feedback

  9. Event Driven

  10. Laser

  11. Motion: Pitch +Pro: Immediate Horizon -Con: Alternating Directions Full Scan Latency

  12. Motion: Yawing Scan +Pro: Immediate Vertical Scan -Con: Alternating Directions Full Scan Latency

  13. Motion: Rolling Scan +Pro: Center Focus Continuous Rotation -Con: Peripheral Vision

  14. Motor Selection

  15. Motor Selection: MX-28T • Motor Feedback • Highest Resolution • Continuous Rotation • Serial Communication • 12V Rail

  16. 3D Interpolation InputOutput 2D Point 3D Point Motor Position

  17. Point Cloud Visualization

  18. Microcontroller

  19. Raspberry Pi • 700 MHz ARMv6 ISA • 8 GPIO • Smallest physical footprint

  20. Operating System • RaspbianDebian linux operating system tailored for raspberry Pi • Threaded Application • Onboard development • Libraries

  21. Communication • TCP Communication • Custom Communication Protocol

  22. Power Source: 12VDC Output: 5VDC and 12VDC Part: TI LMZ14203 Switching Module Source Input: 6V - 42V Max Output: 18 Watts Output Voltage: 0.8V - 6V

  23. Power LMZ14203 Switching Module

  24. Testing Software Testing • Laser • Motor • Microcontroller 3D Scan Testing • Indoor/Outdoor • Day/Night • Movement

  25. Division of Labor

  26. Budget

  27. Progress

  28. Project Status

  29. Difficulties • Event Timing • Rotating Platform • Real Time Rendering • Vehicle Movement

  30. Questions?

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