Ghost Scanner ~3D LiDAR AR Game~

B4 Student Project at SMRT AIST

Developed by Reon Tabata (Toyohashi University of Technology)
Supervisor Kenji Koide (National Institute of Advanced Industrial Science and Technology)

Overview

Ghost Scanner is an AR game created as a demonstration of 3D LiDAR-IMU localization system. It utilizes a portable scanner equipped with a 3D LiDAR (Livox MID-360) and a small display to find ghosts hidden in the room.

The main system is built with ROS2. Multiplayer functionality is enabled through WiFi communication with the same system.

Single Player Mode

Multi Player Mode



Technologies Used

  • GLIM: LiDAR-IMU SLAM framework used for map creation.
  • GLIL: LiDAR-IMU localization on a prior 3D environmental map.
  • 3D-BBS: 3D global localization Using Branch-and-Bound Algorithm.


System

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Gallery

Scanner

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Scanner CAD

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Equipped with the scanner and PC

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First Person View