Autonomous 3D LiDAR Mapping: Transforming 1D LiDAR to 3D LiDAR for Building Scanning with a Mobile Robot
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Date
2025
Authors
Rashid Sahem Nayef Hendawi
Mohammad Jafar Yousef AbuRehan
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Abstract
In this project, we aim to convert 1D LiDAR into 3D LiDAR sensor using mirror mech-
anism to get a high light frequency and a wide angle for scanning the area. One of this
project big approaches is to provide a cost-effective alternative to 3D LiDAR sensors, that
are very expensive. The enhanced LiDAR system will be carried by a moving robot uti-
lizing SLAM (Simultaneous Localization and Mapping) technology, included with a GPS
sensor for positioning and obstacle avoidance. The primary abroach of this system will
be a 3D point of cloud representation of the scanned environment that can be changed to
a 3D Matrix or Virtual reality applications.
This project covers several aspects, starting from hardware design for the MEMS (mirror
system), sensor integration, SLAM implementation for real-time data processing and the
generation of the point of cloud. The development stage involves designing the mirror
system (2D X-Y axis), implement and program the LiDAR data collection, processing
the 3D transformation and testing the project in real world environments. To ensure
reliability, smoothness and autonomously movement, GPS and obstacle detection sensors
will be used.
3D LiDAR sensors already exist, but they are very expensive and not globally accessible.
Our project aims a more cost-effective alternative, making 3D scanning technology widely
available. Implementing the combination of LiDAR 1D sensor with SLAM navigation,
GPS tracking, and obstacle detection is hard and limited. Our project offers the expansion
of the low-cost 3D mapping technology.