3-D LiDAR Scanner
The 3-D LiDAR Scanner was a project to learn more about LiDAR and its ability to map an area into point clouds. In order to map a room, I used a TFMini LiDAR I2C module to measure individual point distances, rho, ranging from 30 cm to 12 m. I swept the LiDAR module in the theta direction using a stepper motor and in phi direction using a servo motor, providing a field of view of nearly 360 degrees. The motors were controlled by an Arduino Uno and TB6612 MOSFET drivers.
I developed a program to convert data points from spherical coordinates to Cartesian coordinates and plot them in a graphical interface. The video demonstrates a LiDAR scan of a room, in which the walls are clearly drawn and the outline of a chair can be seen. The limitations of this scanner only provide a projection of objects taken from the scanner's position in the room, so points behind an object cannot be drawn.
