📡 Cost-Efficient LiDAR 3D Scanning System

📌 Project Overview

This repository contains the embedded firmware and visualization software for a Cost-Efficient 3D LiDAR Scanner. The system utilizes a Garmin LiDAR-Lite v3 sensor paired with an Arduino Mega to capture high-precision distance measurements. The hardware sweeps the environment using a custom pan-tilt mechanism, capturing spatial data and transmitting it to a PC via serial communication.

A custom Java application written in Processing IDE receives this telemetry, converts the spherical coordinates (yaw, pitch, distance) into Cartesian coordinates (X, Y, Z), and renders a live 3D Point Cloud of the scanned environment.

🏆 This project was officially supported and funded by the TÜBİTAK 2209-A Research Project Support Programme for Undergraduate Students.

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📷 System Demonstration

(Note to Ömer: Replace these placeholder links with actual images or a GIF of your project!)

Hardware Setup	3D Point Cloud Render

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⚙️ System Architecture

1. Hardware Layer (Embedded C++)

• Microcontroller: Arduino Mega 2560
• Sensor: Garmin LiDAR-Lite v3
• Actuators: 2x Pan-Tilt Servo Motors
• Communication: I2C (for LiDAR-to-MCU), UART/Serial (for MCU-to-PC)

Embedded Workflow:

1. The Arduino Mega commands the pan/tilt servos to move in a grid pattern.
2. At each step, the MCU requests a distance measurement from the LiDAR via the I2C bus.
3. The MCU packages the current [Pan Angle, Tilt Angle, Distance] and streams it asynchronously to the PC over UART.

2. Visualization Layer (Java / Processing IDE)

• Environment: Processing 3/4
• Math Logic: Applies trigonometric transformations to convert incoming spherical data into an actionable 3D Cartesian space.
  • X = distance * sin(tilt) * cos(pan)
  • Y = distance * sin(tilt) * sin(pan)
  • Z = distance * cos(tilt)
• Rendering: Utilizes OpenGL (P3D) to plot points in real-time, allowing the user to rotate and inspect the 3D map.

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🔌 Hardware Wiring Guide

LiDAR-Lite v3 Pin	Arduino Mega Pin	Description
5V (Red)	5V	Power supply
GND (Black)	GND	Ground
SCL (Green)	Pin 21 (SCL)	I2C Clock
SDA (Blue)	Pin 20 (SDA)	I2C Data

Note: A 680µF capacitor is recommended across the 5V and GND lines of the LiDAR to absorb voltage spikes during measurement bursts.

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🚀 How to Run the Project

1. Flash the MCU

1. Open Arduino_Firmware/LiDAR_Scanner.ino in the Arduino IDE.
2. Install the necessary libraries (Wire.h, Servo.h, and the LIDARLite library).
3. Connect your Arduino Mega and click Upload.

2. Launch the 3D Visualizer

1. Open Processing_Visualizer/PointCloudRender.pde in the Processing IDE.
2. Ensure your Arduino is connected to the PC via USB.
3. Update the Serial.list()[X] index in the Processing code to match your Arduino's COM port.
4. Click Run to start the real-time 3D scan rendering.

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🎥 Watch the Project Demo on YouTube

Developed by Ömer Faruk Öncel.