The design and implementation of a lidar system with center average defuzzifier

There are two important issues in the field of indoor robot navigation, sensing the environment and building the map. There are many approaches that have been used to obtain the distance between the robot and objects. The approaches could be divided into passive and active indoor navigation technologies. However, passive indoor navigation technology usually requires pre-construction of indoor places. It could not be navigated well in an unknown room environment. Therefore, active navigation technology already has become the main solution currently. In this paper, the computer vision technology is used to extract laser points, and use the range finder triangulation measurement method to measure the relationship between the laser point and the camera plane. With the use of rotating device, our system could create a 360 degrees environment map. The proposed LIDAR system could be used to model and measure the distance in a room.