LIDAR-Lite v3 - 3D-Scan
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- Опубликовано: 8 ноя 2016
- 3D mapping of a room using a rotating LIDAR-Lite v3. The mounting is 3D-Printed and the Lidar is driven by one stepper motor and a servo, controlled by an Arduino Uno. Map rendered using Unity3D.
Arduino Source: pastebin.com/V66WcgSV
Parts for 3D-Print: drive.google.com/file/d/0B5db...
LIDAR-Lite v3: buy.garmin.com/en-US/US/prod5...
Stepper Motor: www.adafruit.com/product/324
Motor Driver: www.pololu.com/product/1182
Slip Ring: www.adafruit.com/product/736
Built and programmed by: Sören Busse, Marcus Wichelmann
Modelling of printed mountings: David Bailey
Music: / kstbeats 
Наука
Wow that looks amazing. Great work and pretty accurate👍
Thanks for the video as I really enjoyed watching it. It inspired me to have a go and build one myself!
You should definitely do an in-depth tutorial behind this!
Great achivement! Congratulations. Im imagining that this device can be mount on UAV/Drones for exploring its potential for mapping applications. :-D
very impressive!
well done!
The real nut and ball is the infrared and micro-vibration underneath of it all and the visible is for fishing
Hi, nice work. Could please teach me the way you use unity 3d get the map .
Awesome project! Would you mind sharing the c# software?
Greetings, could you please upload the wiring schematic for this experiment?
Thank you.
Sir
Would you please share more details of the project like circuit diagrams,software used,and also about programming
Hi, any tutorial to understand how you make the 3d image with all the data you got? hope you can answer thanks
I like this.
Hello TechsOnTube, thank you for sharing this smart design with us! May I ask what servomotor you were using? a standard SG90 I suppose? Thank you very much.
Hello, I've seen a really cool job.
I am making this as a hobby, but I am having difficulty implementing a point cloud in unity. If possible, can you tell me the programming and methods used in unity?
please...
Hey TechsOnTube - we in interior design at wayne state would love to build our own lidar 3D scanner but have many questions left. Would you be willing to answer few?
I was wondering, does anyone have an idea how did the sensor move down by its Z-axis, to geather all the information from the top to bottom of the room?
Cheers
Awesome. Would you get better resolution with microstepping and lonegr time?
sir . can you please tell me that how you are getting the mapping output
Hi Great job !
what's the resolution you get by 5 meters ? and what is the microstep that you used for the stepper Motor to get this resolution ? Thanks in advance.
Hi,
What kind of arduino board are you using there? It looks a little different than the Rev3.
Do you think with the right setup this could be used to make a handheld 3d scanner for making objects for 3d printing?
Could you please let me now how good is this module for detecting objects next to it? one seller told me it has a min range of 5cm, but I haven't found that info on the datasheet.
was wondering i see a lot of people place the lidar optical transceiver/receiver directly on the spinning plate or rotating gimble using complex mechanics including sliprings and other such components. What is preventing them from simply spinning a mirror to collect data instead of the actual device its self? Just wondering because im sure there's a likely answer to my question that i couldn't find and wanted to consult with others that looked in to the same field that may have experience of knowledge :)
Hi..can i have the source code for Unity3D.
Hi! Great project! What voltage were you providing to the slip ring?
Sir, can you give me the list of all the materials needed in that project?
What sort of spatial resolution can you get at say 2-3 meters and do you think it would work in outdoor situations with ambient sunlight?
Alex Nyers We got a resolution of about 2-4cm, the measurements where really stable. We haven't tried it in sunlight yet, but with lights on and in the afternoon outside it worked fine
Amazing implementation. Are you controlling both the motors as well as recording Lidar data using Arduino Mega only ? Or are you using some other board to record lidar data ? Can you please shared the code for the same
Hi! TechsOnTube. Thank for a really good work! I currently working with this project and I want to what is the software that you used to get that 3D mapping? Thank in advanced. And i'm looking to hear the answer from you.
me too...
Description says Unity 3D
Hi! Impressive job! Could you share with us point cloud?
Would like to know which servo you used, the Tower Pro MG90S and SG92R seem a little to small, I am building this now because this is a great project to learn about LiDAR. Thanks.
The Hitec RCD 31085S HS-85BB is a good sized servo
Can you please give more information regarding this project
why these wires do not twist?
Hi TechsOnTube really awesome "3D scanner" youve made there, i was
wondering what other ways can be used to render a 2D map from the data
we get from the Lidar V3, im trying to create a Cartographer robot for
a house as a school project, thanks in advance and wish you the best
continuation
Hi,
I've created an onedimensional SLAM-Algorithm in my exam, too. You should have in mind that SLAM is very difficulty if you have no odometry, as in my case, because I used the ondimensional idea. But if you have odometry it would be easier or other location thing. Then you're been able to use the "
Iterative Closest Point Algorithm" to correct the location "inaccuracies"
(I would send you more details and pictures if you enable PN in your account)
Hi i want to make a project written below
I want to make a detector for detecting racing cars like after how much time a car has reached the ending point or when did it start running from the starting point. So I would want a sensor that can be placed at the side of the track (doing measurements on cars from the side view).
There are two options that I found
> Lidar
> IR (placed on both sides of track, sender, and receiver)
I would want a sensor that can
>Detect 20-30 meters range
>Sunlight generally does not affect it
>Rain should not affect it
>have long term use
>Economical
>Works with Arduino/Rasp pi
?
> Should be able to detect cars and 4 wheelers
I am okay with both Lidar and IR but when I was searching the internet I couldn't find IR with this much range
can any one help me?
Hello! Nice work! i would like to ask what program do you use to plot the distances in a 3D model?
did you ever receive an answer to this?
Yup that deserves a tutorial. So, a stepper motor, a servo and that seems like an ultrasonic sensor. The components are not expensive, also the driver for the stepper, so that's cheap and probably easy to make!
Edit : realized that, that ultrasonic sensor it's probably a really expensive one, since it's analyzing a hole room..
This is laser range finder. It is more expensive, than ultrasonic one. Possible to buy laser range finder for home use. It cost around 10-40€. Inside will be similar laser module and most probably stm32.
Great video. I wonder how you an produce a 3D map with only a Lidar and without the use of a Gyro/accelerometer to keep track of orientation?
Most likely the xyz coordinates from motors
Hi There, How long does it usually take to render the map?
Hi, one complete 3D-Scan takes usually round about 2 minutes. But it
very depends on how accurate the scan should be and how fast the motors
run.
Hey! What servomotor did you use exactly? And how did you solve problems with the stepper motor vibrating when it does a step?
I have the same question.
Hi TechsOnTube,
Apparently there are 5 configurations with which one can operate Lidar in the I2C mode as seen on the cpp files in the lidar library--> src.
Could someone please tell me what exactly is meant by 'range' as in ' Maximum range/ short range." Does range define the magnitude of the count or is it the distance upto which one gets accuracy.
If so, is there any information regarding these ranges(distances) ?
hi! I want to make this but I don't know how to render. please help me to make it
hi how can i access the source code. at least give a website where we can access
Hello,
exactly how accurate was your Lidar in measuring distance? did you have to make suitable corrections in the code? does ambient light affect much? And which tool was that where you form the image?
thanks in advance :)
Hi,
I've made a diagram: LIDAR vs. Ultrasonic vs. real Measurements and you
see, the LIDAR is very accurate without any corrections.
drive.google.com/file/d/0BzzNEJe3Gh-JZ3ZsSjdaYWV4TDg/view
The LIDAR has a build in ambient light correction that prevents
influences from other light sources, its described in detail here:
static.garmin.com/pumac/LIDAR_Lite_v3_Operation_Manual_and_Technical_Specifications.pdf
"Theory of Operation"
And what do you mean? "which tool was that where you form the image"? We've created this point cloud with Unity.
Could you please translate what the x and y axis are labelled.?
Yes, I wanted to know the software which maps your co-ordinates ie. angles and Distance measured. Thank you.
I asked about the accuracy because I had to incorporate a subtraction of 20 cm from the GetdistanceI2c() to get values closer to the actual value. Thanks you :)
Hi, sir this is Thajuddidn. It would be great help if you tell the name of the stepper motor.
have a nice day. We are trying to do the same project, but Arduino is giving a mistake. How can we get to you? Thank you in advance
IS THERE ANY POSIBILITY OF GETTING THE SOURCE CODE ?
Awesome project! I'm thinking of trying something like this, but mounting it on my Neato Robot. Do you think this would be able to continue to map as it travels around a room? Of course I'd have to figure out a mounted battery-pack, but data collection could be done wirelessly OR stored for future use.
Also, any chance you'd be able to share the code for the visualization part?
William Karavites In 3D I don't think so, because the scan takes about 3 minutes. If you speed it up you can reduce it to about 1 minute, but I think in 1 minute your robot driven a huge distance. It might work if you correct the measurements with odometry while you're moving. In 2D there shouldn't be any problem
We will push the visualization part soon
It's the movement part that I'm worried about. I want to make sure it gets an accurate ENOUGH measurement while it goes around the room. I'll have to buy a LiDAR and experiment a bit. Thanks!
great job! can you tell me how map rendering is done using unity
did you ever get answer to this? D:
NIce
Can we use TF Luna instead!!?
Could you please share unity source code?
Hi sir,
Can you give me an instruction of the location of the wires. Per board.
Or the instruction of where to put the wires?
Really cool. Have the ver 2 of that LiDAR unit and been wanting to make a scanner like this but not got very far yet. Am getting those 3D parts printed (thanks for sharing) - what is the toothed drive belt you are using? Is it available for purchase online? Appreciate your time and help, and thanks so much for sharing the 3D-print files.
Phil Bartie Hi, very cool, that you're trying to build something like that, too! The drive belt is 3d-printed, too. There are flexible materials you can use for this.
I can look for where we have the 3d-model for this part and upload it later.
Have fun with your project! 😄
Awesome! thanks!
Hi, sorry, I'm a bit late, but I've uploaded the file for the drive belt now: drive.google.com/file/d/0B5dbIxH2PAsPVGJKcEF5MGNoMVk/view
You can print it using flexible filament like NinjaFlex, ColorFabb or nGen_FLEX...
That is very kind of you.. thanks for the details.. will have a go at finding somewhere to print the belt.
Oh meant to ask - which motor are you using for the LiDAR unit azimuth control? Thanks!
How do you connect the cables without them twisting?
He might have used slip ring to avoid twisting
Which library did you use to communicate between arduino and lidar? I2C, PWM, Wire library?
Yusuf Kaan İnan We've used the official LIDAR-Lite Library from Garmin and communicating using the I²C protocol.
Do you have a circuit diagram? Lidar
How did you connect the pins of the sensor to the arduino?
Which is the software used to display the mapping’s
Description says Unity3D
IM SORRY THE CODE FOR DISPLAYING THE 3D SCAN
can you post the unity code?
could you please add the servo motor model (link) to the description?
Hello! Did you find the servo motor model?
Is it also possible we can get access to the 3D printed parts? i'm thinking about implementing this for my school project.
I've added a link to the parts to the video description.
Thank you so much!
What is your rpm?
Hey can I ask someting ?
Why do you have a curved ROOF? Its lidar mistake, or what?
Loft conversation maybe?
hi and thank's for sharing this!!
im am a student for electrical engineering and my final project is gonna be based on lidar technology
i will be glad to get some advices from u about it.
רועי יו
I don't think there will be a lot of problems :D Just buy a LIDAR sensor and play around with it. The Lidar Library is well documented by Garmin
Hi!
Great work!
How many time it took to get full sphere scan?
Can you share the code to visualize a data?
What accuracy of point clouds, maybe you compare with ground truth?
Dan Dvirchenko The complete scan takes about 3 minutes, but we scan every layer two times so you can reduce it to about 1,5min.
I think we will do some more videos about the lidar where we compare the measurements with the ground truth, but the lidar is very accurate, maybe our measuring error might be higher than the errors of the lidar. Mapping works just fine :)
End result looks like Cyberpunk 2077 braindance :D
its TFMini - Micro LiDAR for 40bucks?
Be cool if can scan up to 1000 feet away