Diseño y construcción de un robot móvil que obtenga datos de su trayectoria y adquiera imágenes escaneadas con láser para su posterior procesamiento con el software labview.

Abstract

This project aims to develop a team capable of making a three-dimensional scanning rooms , using two webcams , laser equipment , controlled by a host computer robot and robot-mounted secondary computer, the robot is used to mobilize cameras , laser equipment and the secondary computer across the room to the catching and imaging with laser projection, the images obtained are sent to a host computer where they are processed to extract the points coordinates ( x , y) in units of pixels of the laser line , the third coordinate ( z ) is obtained by calculating the depth of stereoscopic viewing with the coordinates ( x , y, z) obtained proceeds to attach the set of points captured images into a single three-dimensional cloud of points , which resembles the scanned room. The results of the coordinates ( x , y) of the images obtained by the webcams project are compared with the coordinates ( x , y) of the images obtained by a Kinect which is a computer that allows the creation of three-dimensional scenes of this comparison an error of 6.21% is obtained . The equipment developed in this project takes care of scanning rooms by the technique of extracting coordinates of the projection of a laser light for greater approximation of the point cloud to scanned rooms.