Consideration of Scanning Line Density and Capture of Shape of Human Movement from 3D Laser Scanning Sensor Using Roundly Swinging Mechanism
Mitsuhiro Matsumoto* and Shin’ichi Yuta**
*Department of Control and Information Systems Engineering, Kurume National College of Technology, 1-1-1 Komorino, Kurume-shi, Fukuoka 830-8555, Japan
**Graduate School of System and Information Engineering, University of Tsukuba, 1-1-1 Tennoudai, Tsukuba-shi, Ibaraki 305-8573, Japan
A 3D SOKUIKI sensor (3D laser scanning sensor) with a roundly swinging mechanism can detect the range distance of a belt area at a certain vertical height and horizontal view angle without any converging points and without twisting any signal cables. It is useful for observing the movement of people and for capturing the shape of human movement. We analyzed the line-to-line distance as the scanning line density for this type of sensor. The entire belt area of directions is scanned twice by both positively and negatively inclined scanning lines in one period of a whole scan. The line-to-line distance depends on the vertical height and is dense at both vertical ends and sparse in the middle. As a result, the scanning density at center front is 1/2.5 (40%) compared to using ideal vertical direction control. Since ideal vertical direction control of a range-measuring beam is not technically possible at this time, this scanning density provided by the roundly swinging mechanism can be considered to be reasonably good and useful. The 3D SOKUIKI sensor using this roundly swinging mechanism can capture the shape of human movement.
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