Design and construction of a mobile robot that allows the obtaining of a cloud of points of the scan of rooms using laser and webcams

Abstract

We have built some hardware and developed an algorithm in order to obtain a cloud of X, Y , Z coordinates representing a set of images captured inside a room. The images are captured with artificial vision techniques, like the stereo vision theory, based on laser projection, data acquisition and image preprocessing, using bifocal scanning and webcams. In order to obtain the X, Y coordinates over a laser projection plane; the images were digitalized using digital filters. Additionally, in order to obtain the Z coordinates,the stereoscopic formula was used for depth calculation. The Z coordinate represents the distance between the cameras and the laser projected objects. The rooms and objects captured as 3D images using this technique are similar, with a small error margin, to the rooms where the scanning was applied.