Three dimensional map construction using a scanning laser range finder

Yau Zen Chang*, Shih Tseng Lee

*Corresponding author for this work

Research output: Contribution to journalConference articlepeer-review


This paper presents the development of a three-dimensional environment reconstruction system using a laser range finder. The original design of URG-04LX laser range finder, provided by Hokuyo Inc., is efficient in providing two-dimensional distance information. To enhance the capability of the device, we developed a rotation mechanism to provide it a sweep motion for stereo data collection. Geometric equations are derived that includes parameters of misalignment that are unavoidable in manufacturing and assembling. The parameters are calibrated according to practical data measurement of three relatively-perpendicular planes. The calibration is formulated as an optimization problem solved using the Nelder-Mead simplex algorithm. Validity of the calibration scheme is demonstrated by the reconstruction of several real-world scenes.

Original languageEnglish
Article number72390V
JournalProceedings of SPIE - The International Society for Optical Engineering
StatePublished - 2009
EventThree-Dimensional Imaging Metrology - San Jose, CA, United States
Duration: 19 01 200920 01 2009


  • 3D reconstruction
  • Calibration
  • Scanning laser range finder
  • Simplex algorithm


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