Modeling and Simulation of Short Range 3D Triangulation-Based Laser Scanning System

Abstract: In this paper, a simulation environment for a short range 3D laser scanning system that uses triangulation is presented. The simulation is used for integrating a laser scanning probe that uses a line laser and two cameras, with a vertical articulated robotic arm with 6 degrees of freedom and a rotary table. The optical subsystem is simulated using POV-Ray ray tracing software, and the image processing for triangulation, together with the robotic arm kinematics and the user interface, are implemented in MATLAB