Implementation of Edge Tracking Algorithm: Prototyping 3D LiDAR to Improve Scanning and Data Processing Efficiency

Object scanning is still dominated by the use of 2D LiDAR sensors. However, it should be noted that currently, most of the commonly used 2D LiDAR sensors use continuous motor rotation. This causes limitations in controlling the movement angle of the LiDAR. In addition, in the object scanning method using 2D LiDAR, there is a problem where LiDAR collects data not only on the object itself, but also includes the surroundings of the object which is an area that does not need to be measured. Some previous studies used additional computation to remove unnecessary points to solve the problem. This additional computational step increases the complexity and processing time of the system, potentially affecting the efficiency and accuracy of the scanning process. For this reason, there is a need for improvement in the development of 2D LiDAR sensor technology to increase the control of the movement angle and improve the existing limitations. In this research, adjustments are made so that objects can be scanned in 3D where rotational movement of LiDAR controlled by limiting the region of interest (ROI). ROI determination is performed using an Edge Tracking algorithm. Experiments conducted show that the designed LiDAR can successfully scan various objects effectively. These results show that our approach can overcome the limitations of current 2D LiDAR sensors.