Irma3D — An Intelligent Robot for Mapping Applications*

Motivated by the increasing need of rapid characterization of environments in 3D, we designed a robot system that automates the work of an operator of terrestrial laser scanners. The built system enables to work without using special targets or markers and thus enables the surveyors to save more than 75% of the time spent in the field. Another impulse for developing the platform is the demand for a remote multi-sensor inspection tool. The robot is capable of surveying remote sites or danger areas, such as plants, underground mines, tunnels, caves, or channels. The results are precise, multi-modal digital 3D maps.This paper presents the recently developed robot Irma3D, its hardware, the developed interconnected software modules, the associated sensor calibration methods and a few applications.