For mobile robots to be of value in practical situations a 3D perception and mapping capability will almost always prove essential. In this paper a 2D laser scanner is modified to produce 3D scans with a resolution of one degree updated every 3 seconds. This result is achieved by adding a rotating mirror to the original scanner in an inexpensive and relatively simple modification that is easily made to a standard mobile robot. The modified robot is then able to produces 3D scans at a various frequencies up to 1Hz and accurate to 0.02m over an 8m range.
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Ryde et al. (2008) studied this question.
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