This research and publication has been co-financed with the European Union

funds by the European Social Fund

M.Sc. Bartosz Brzozowski 2

M.Sc. Bartosz Brzozowski 3

• Infrared

• Acoustic

• Multisensors

www.parallax.com

www.eetimes.com

• Visual

www.embedded.com

M.Sc. Bartosz Brzozowski 4

Feature Hokuyo

URG-04LX 3D LIDAR

Dimentions [mm] 50 x 50 x 70 70 x 70 x 70

Weight [g] 160 250

Range 240o x 6m 120o x 240o x 6m

Scan time [s] 0.1 0.1 ÷ 12

Used Power [W] 2.4 2.45

Feature Value

Range [m] 3,5

Field of View [O] 58 x 45 x 70

Depth image size [pixels] 320x240

Depth image refresh [fps] 30

Power source [V] 5 (USB)

Power consumption [W] 2,5

Interface USB 2.0/3.0

Software OpenNI SDK

Dimensions [cm] 18 x 3,5 x 5

Weight [g] 220

M.Sc. Bartosz Brzozowski 5

M.Sc. Bartosz Brzozowski 6

M.Sc. Bartosz Brzozowski 7

M.Sc. Bartosz Brzozowski 8

Accuracy = 2% of exact distance

Rotation speed = 265 ÷ 285 rpm

Detection = 5 mm diameter objects

Linear speed = 0,5 m/s

M.Sc. Bartosz Brzozowski 9

1. A measurement technique to obtain 360O point cloud was introduced;

2. Promising results obtained from the module –> implementations of algorithms

3. In-flight test are needed for final verification of the method;

4. Enhance of performance require different sensor;

5. Motor drive modifications might be beneficial.

This research and publication has been co-financed with the European Union

funds by the European Social Fund