The purpose of this study was to produce a low cost 3D scanner system using a
rotating 2D laser scanner. There are two key parameters of this system, the
rotation axis and the rotation radius. These two parameters were extracted
through a calibration procedure. The calibration requires a planar
checkerboard calibration pattern. Several poses were scanned to obtain the
observation data. The rotation axis and the rotation radius were extracted by
solving a linear equation constructed from a point-plane constraint, where
all points lie on a plane and have a zero dot product to the surface normal
to the plane. This method was tested on a simulation environment by
generating synthetic data of the scanned calibration pattern. A comprehensive
analysis was carried out to evaluate the performance of the proposed method.
From the simulation results, it was demonstrated that this method achieved
highly accurate results with an orientation error of 0.018 degree and a
radius error of 0.2 cm.