Zebedee: Design of a Spring-Mounted 3-D Range Sensor with Application to Mobile Mapping

@article{Bosse2012ZebedeeDO,
  title={Zebedee: Design of a Spring-Mounted 3-D Range Sensor with Application to Mobile Mapping},
  author={Michael Bosse and Robert Zlot and Paul Flick},
  journal={IEEE Transactions on Robotics},
  year={2012},
  volume={28},
  pages={1104-1119}
}
Three-dimensional perception is a key technology for many robotics applications, including obstacle detection, mapping, and localization. There exist a number of sensors and techniques for acquiring 3-D data, many of which have particular utility for various robotic tasks. We introduce a new design for a 3-D sensor system, constructed from a 2-D range scanner coupled with a passive linkage mechanism, such as a spring. By mounting the other end of the passive linkage mechanism to a moving body… CONTINUE READING
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