3D Scene Reconstruction via 2D LiDAR and Platform Inclination of a Hexapod Robot

Abstract

The paper presents the development of a 3D scanning system for the surrounding space based on the use of a 2D LiDAR mounted on a hexapod robot platform. The aim of the study is to create an inexpensive and mobile alternative to industrial 3D LiDARs by converting two-dimensional point clouds into volumetric data by tilting a robotic platform. The proposed approach eliminates the need for rotary mechanisms, which simplifies and reduces the cost of construction. A mathematical model of hexapod movement and an algorithm for controlling the position of the platform have been developed, ensuring accurate orientation of the sensor in space. To form point clouds, data from the gyroscope is taken into account, synchronized with LiDAR measurements. A hardware and software system based on ROS is implemented using the STM32 microcontroller. Experimental validation was carried out using both planar and spherical reference objects, as well as comparative analysis with the industrial 3D LiDAR Velodyne VLP-16. The results showed that the proposed system provides comparable accuracy at close range at significantly lower cost. The work demonstrates the potential of using hexapods and 2D LiDARs for three-dimensional scanning tasks in limited and structurally complex spaces.