how create object for storing 3-D lidar scan

https://mathworks.com/help/nav/ref/lidarscan.html

scan = lidarScan(ranges,angles)

scan = lidarScan(cart)

This is example of 2-d lidar scan matlab code. It can represent angle and distance information of scan data.

I want a 3-d version of this. It is okay not only lidar but also other sensor. I want to know the point information of the obstacle by installing a lidar(or th sensor) on the uav. I add the obstacle with addMesh() code. Trying to grasp obstacle information not known in advance with sensor. Can you briefly tell me such an example or matlab code?

I want to sensing obstacles when uav is stationary.

Answer 1

[Sakshay]

Hello,

As per my understanding, you are trying to create infer obstacles in front of your UAV using a LiDAR sensor. But, currently you are not able to infer 3D information from the LiDAR to create a 3D obstacle.

MATLAB provides the "pointCloud" object to create a point cloud from 3D points. Then, this point cloud can be used to create a Collision Object using the "collisionMesh" function. MATLAB also provides the Velodyne Lidar Support Package. The package would enable you to connect to Velodyne Lidar Sensors and stream lidar point cloud data into MATLAB.

You can refer to the following documentation for more examples on the same:

• Velodyne LiDAR Support Package: Velodyne Lidar Support from Lidar Toolbox - Hardware Support - MATLAB & Simulink (mathworks.com)
• Reading Point Clouds using Velodyne Sensor: Read Point Clouds - MATLAB & Simulink (mathworks.com)
• "pointCloud" Object: Object for storing 3-D point cloud - MATLAB (mathworks.com)
• "collisionMesh" function: Create convex mesh collision geometry - MATLAB (mathworks.com)