VR-Scan (2011)

VR-SCAN
VR-SCAN

A Versatile and Robust Miniaturized Laser Scanner for short range 3D-Modelling and Exploration in Robotics.

Technical Data

Measuring depth
750 mm
Measuring distance
250-1000 mm
Scan width
140-570 mm
Measuring data rate
35-40 kHz
Point density
~1000/line (interlaced)
angular resolution
0.7 mrad (interlaced)
Accuracy
±0.2% of range
Dimensions
125x69x67 mm
Weight
430 g
Features
Confidence rating of measurement,
Variable focus

System description

Precise and robust perception of the environment is crucial for autonomous robot systems. Various robotic tasks demand versatile perception. The DLR VR-SCAN is a dedicated design of a versatile triangulation based laser range scanner optimized for autonomous 3D-modelling and exploration in robotics.

The laser scanner design is based on an extremely small MEMS scan head permitting a compact, lightweight and highly integrated implementation allowing for hand-eye operation. Special capabilities like variable range and confidence rating of the measuring values increase robustness and versatility.

VR-SCAN on robot
Laser scanner on end effector in action
Image: 1/3, Credit:
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VR-SCAN Laser
Image: 2/3, Credit:
VR-SCAN on Robot
Image: 3/3, Credit:

Selected Publications

Simon Kielhöfer, Thomas Bahls, Franz Hacker, Tilo Wüsthoff, and Michael Suppa (2011) DLR VR-SCAN: A versatile and robust miniaturized laser scanner for short range 3D-modelling and exploration in robotics. In: Proceedings of IROS 2011, pages 1933-1939. IROS 2011, 25.-30. Sept. 2011, San Francisco, USA.