Consideration of scanning line density and capture of shape of human movement from 3D laser scanning sensor using roundly swinging mechanism

Mitsuhiro Matsumoto, Shin'ichi Yuta

Research output: Contribution to journalArticle


A 3D SOKUIKI sensor (3D laser scanning sensor) with a roundly swinging mechanism can detect the range distance of a belt area at a certain vertical height and horizontal view angle without any converging points and without twisting any signal cables. It is useful for observing the movement of people and for capturing the shape of human movement. We analyzed the line-to-line distance as the scanning line density for this type of sensor. The entire belt area of directions is scanned twice by both positively and negatively inclined scanning lines in one period of a whole scan. The line-to-line distance depends on the vertical height and is dense at both vertical ends and sparse in the middle. As a result, the scanning density at center front is 1/2.5 (40%) compared to using ideal vertical direction control. Since ideal vertical direction control of a range-measuring beam is not technically possible at this time, this scanning density provided by the roundly swinging mechanism can be considered to be reasonably good and useful. The 3D SOKUIKI sensor using this roundly swinging mechanism can capture the shape of human movement.

Original languageEnglish
Pages (from-to)53-59
Number of pages7
JournalJournal of Robotics and Mechatronics
Issue number1
Publication statusPublished - 2013 Jan 1



  • 3D laser scanning sensor
  • Roundly swinging mechanism
  • Scanning line density

ASJC Scopus subject areas

  • Computer Science(all)
  • Electrical and Electronic Engineering

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