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Development of a real-time 3D laser scanner with wide FOV and an interface using a HMD for teleoperated mobile robots   FUJIWARA Tomofumi1, KAMEGAWA Tetsushi2, and GOFUKU Akio3   1. Graduate School of Natural Science and Technology, Okayama University, 3-1-1 Tsushimanaka, Kita-ku, Okayama-shi, Okayama, 700-8530, Japan (fujiwara.t@mif.sys.okayama-u.ac.jp) 2. Graduate School of Natural Science and Technology, Okayama University, 3-1-1 Tsushimanaka, Kita-ku, Okayama-shi, Okayama, 700-8530, Japan (kamegawa@sys.okayama-u.ac.jp) 3. Graduate School of Natural Science and Technology, Okayama University, 3-1-1 Tsushimanaka, Kita-ku, Okayama-shi, Okayama, 700-8530, Japan (fukuchan@sys.okayama-u.ac.jp)   Abstract: We develop a new mechanism for 3D scanning with a Laser Range Finder (LRF) with a wide field of view (FOV) for teleoperated mobile robots. The new mechanism has a function that can change the angle of the tilt of a LRF installed on the mechanism. Therefore the new mechanism can increase and change the FOV in 3D scanning which cannot be done by the other former 3D scanning devices. We also adopt a stereoscopic head mounted display (HMD) which has a wide FOV to show 3D point clouds to operators. This paper explains about our real-time 3D laser scanner and its advantages in a point density and a scanning speed and shows a result of displaying a 3D point cloud on a HMD, Oculus Rift DK1. Displaying results of a wide FOV of real-time 3D scanning show that our system has an ability to be applied for search and rescue activities in disaster areas or inspection and maintenance tasks for nuclear power plants. Keyword: real-time 3D laser scanner; HMD; wide field of view; teleoperation; mobile robot
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