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May 25, 2015, 07:18 PM
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XV-11 lidar rides again







Decided to revive the XV-11 LIDAR, after failing to find a convenient way to wear a sonar transmitter. It wasn't expected to work in daylight. The XV-11 remanes to this day the only 2D ranging device for a comprehensible cost. 4 years of kickstarter projects could do no better. 2 of the LIDAR modules were probably salvageable, with the 3rd taking some doing.

After a year since the XV-11 arrived, it was finally rebuilt & plotting 2D scans as designed. The error rate bottomed out at 250rpm. Below & above, it increased. It depends on stable motor movement as well as speed. The scan resolution is limited to 360 points. You'd get higher resolution scans by sending a fake photo interruptor pattern down the TX line to the photo interruptor pad. Clock it as fast as possible & spin it with a hobby motor being driven in stepper mode.

After building up the software to assemble images & the dual power supply, it was completely useless in sunlight. If the camera got pointed at the sun, it shut down until power cycled. It couldn't detect any surface lit by the sun. In shade, things got more interesting. It could resolve a concrete path, grass on 1 side, & a curb on the other side.



If images pivoting up & down were stacked, it could resolve the path in 3D.



This required a bit of elevation & precise alignment to see over the edge of the path. It only worked in shade. It would work at night & a computer could easily differentiate the horizontal lines of the path from the random dots of grass.

The problem isn't whether it can drive itself, but how much it would cost.
Last edited by Jack Crossfire; May 25, 2015 at 09:32 PM.
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Jun 05, 2015, 07:58 PM
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Hey Jack,
Nice work ! Could you please tell us the data package structure that you receive ?

Thanks in advance !


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