1st International Conference on Electrical Engineering and
Advanced Technologies (ICEEAT’2023)
Accurate and Dynamic Environment Modeling:
Cost-effective Alternatives to 3D LiDAR
Authors
* Fatma Zohra OUAMANE * Bouthaina ALLIA
* Foudil CHERIF * Baya Lina MENAI
Mohamed Khider university – BISKRA
Faculty of Exact Sciences, Natural and Life Sciences
Computer science department
Outline
Introduction
Related work
Proposed System
Results
Conclusion
1
Introduction
●Robots are revolutionizing industries by
performing diverse tasks independently,
Robots have proven their ability to
outperform humans in dangerous task
To ensure their autonomy they
need an overview of the
surrounding environment
2
Problematic
● 3D LiDAR technology aids 3D data
reconstruction of the environment
● 2D LiDAR offering cost-effective
alternatives reconstructing dynamic
environments
Presents challenges and
necessitating innovative
3
Objectif
The main goal is to provide a more cost-effective alternative
to 3D LiDAR technology, using easily accessible
components, to create an accurate representation of the
environment.
4
Introduction to LiDAR Technology
Light Detection and Ranging
5
Introduction to LiDAR Technology
LiDAR technology plays a
crucial role in various
industries due to its ability to
provide highly accurate and
detailed spatial information.
6
Introduction to LiDAR Technology
Cost Constraints: 3D LiDAR
systems can be expensive to
acquire and operate.
2D LiDAR sensors are generally more
cost-effective than 3D LiDAR
technology.
7
Related work
Reference Sensor Turning Additional
tools tools
Jorge et all [1] Multiple RPLiDAR A1 servo motor FPGA
Harold et all [3] LiDAR DC Motor -
Harold et all [4]
Hokuyo URG-04LX- Step motor Mirror
UG01
Bo et all [5] LiDAR Turntable Reflector
8
Proposed System
The proposed system in this paper is designed for
environment reconstruction using two-dimensional
LiDAR and a servo motor
9
Proposed System
Materials
Raspberry Pi
RPLidar 3 Servo motor
Futaba S3003 Servo
Developed by Developed by Raspberry Pi
Motor 3.2kg (360
SLAMTEC Microcontroller, a pocket-
Degree Rotation)
low cost 360 degree sized computer that operates
2D laser scanner on the Linux operating
(LIDAR) solution
10
Proposed System
2 servo motors Raspberry LiDAR 2D
11
Methods
LiDAR Calibration
Data collection
Data fragmentation
12
Methods
LiDAR Calibration
Geometric Calibration
Determines the intrinsic and extrinsic parameters of
a LiDAR sensor
Time Synchronization :
Ensure that the data collected are accurately
timestamped and can be combined seamlessly
13
Methods
Data collection
Use voxels to store coordinates, by scans and assigns
values with 1 assigned if a signal is reflected, and modifies
the angle value 10 times.
Smoothing Filters
Gaussian Filter: It applies a weighted average to nearby
points, giving more weight to closer points and less weight to
distant points, effectively smoothing out noise.
14
Methods
Data collection
15
Methods
Data fragmentation
The voxel is created and filled with
environmental information.
Voxel Grid Filter: Groups nearby
points into voxels (3D pixels) and
replaces them with their label
(color)
16
Methods
Data fragmentation
Converging values regarding distance are collected.
If distance between obstacles is less than
threshold they are treated as a single label and
assigned a color.
17
Results
Results
18
Results
19
Conclusion
The system allows precise adjustment of the LiDAR's angle.
The system generates comprehensive point cloud data,
demonstrating its potential for low-cost 3D scanning and
contributing to 3D sensing and reconstruction
20
Conclusion
Future work
Use Machine Learning
Clustering the data
Add texture to the object scanning
21
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