Sensors · CA-LS1
A 360° triangulating scanner for indoor robots.
A 360° laser-triangulation scanner for indoor robotics and SLAM. A horizontal 650 nm laser fan and a vertically offset camera read up to 640 range samples per frame. The head moves in steps, pausing to shoot each frame, so there is no motion smear and no slip ring. It is indoor-only by design.
Figures are first-principles estimates from the Rev A design. Measured numbers replace them after prototype testing. Not for outdoor or sunlit use.
Each camera column is its own azimuth, so one frame yields up to 640 range samples instead of one. That is about five times the point rate of a classic spinning-dot scanner.
8 stops of 45° per revolution with a ±185° reversing sweep. The processor rides on the rotor, and only five slow wires cross the joint.
Frames are captured in laser-on/laser-off pairs and subtracted, which cancels static room lighting before centroiding.
Each of the 640 columns has its own two-parameter fit. Lens distortion and small misalignments are fitted out of the data instead of modelled.
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