Application of a 3D representation of 2D laser scanner data in operator controlled mobile robots

Abstract

A method of 3D visualization of 2D laser scanner distance data is described in this paper. The method is intended as an aid for human operator controlling a mobile robot, as a complement to camera subsystem. The system uses a single 2D laser scanner and renders its data in the form of interconnected 3D rectangles together with a simplified model of the mobile robot, using perspective projection. The created application is programmed in Visual C++; graphics is rendered using Microsoft Direct3D.