This paper presents a precise, lightweight and low cost 3D laser range
finder (5 kg) for the fast gaging ($<12$ sec) of environments.
Real-time algorithms for the data reduction,
object segmentation are also presented.
A special designed suspension unit, a standard servo motor and a
standard 2D range finder are used to build the 3D scanner.
Maximal resolutions e.g. 180 (h) $\times$ 90 (v) degree with 194400
points are grabbed in 7 seconds.
While scanning, different online
algorithms for line and surface detection are applied to the
data. Object segmentation and detection are done offline after the
scan. With the proposed approach, a precise, reliable, mobile, low
cost, and real-time capable 3D sensor for the contact-less
measuring of environments without additional landmarks
is available.
