🗺️ Spatial Mapping System

An advanced spatial mapping system developed using a Simple Link MSP-EXP432E401Y microcontroller, a Time-of-Flight (ToF) distance sensor, and a stepper motor. This system is designed to capture and visualize 3D environments in real-time, making it ideal for applications in robotics, AR/VR, and autonomous navigation.

🧭 Overview

The Spatial Mapping System utilizes a ToF sensor mounted on a stepper motor to perform 360° scans of the environment. The system captures distance measurements at precise intervals, which are then processed and visualized on a connected PC using Open3D software. The data is transmitted from the microcontroller to the PC via UART communication, where it is rendered into a 3D point cloud.

✨ Features

• Real-Time 3D Mapping: Captures spatial data in real-time, enabling immediate 3D visualization.
• Rotational Scanning: Uses a stepper motor to rotate the ToF sensor, capturing distance measurements at 45° intervals.
• High Precision: Employs advanced algorithms to calculate x, y, and z coordinates from ToF sensor data.
• Interactive Visualization: Renders 3D point clouds using Open3D, allowing for detailed inspection of the scanned environment.
• User-Controlled Sampling: Provides user control over data collection with an onboard button and stop button for manual operation.

🛠️ Technologies Used

• Simple Link MSP-EXP432E401Y: 32-bit ARM Cortex-M4F based microcontroller.
• VL53LIX Time-of-Flight Sensor: Utilized for precise distance measurements.
• MOT-28BYJ48 Stepper Motor: Enables rotational scanning of the environment.
• Open3D: Used for rendering 3D visualizations of the collected data.
• Python & UART: Facilitates communication between the microcontroller and the PC for data transfer and processing.

🚀 Getting Started

To set up and run the Spatial Mapping System, follow these steps:

1. Clone the Repository:

   git clone https://github.com/itsRGit/Spatial-Mapping-System.git
   cd Spatial-Mapping-System

2. Install Dependencies: Ensure you have installed the necessary software, including Open3D, Python 3.9, and the required Python libraries (serial, numpy, open3d, math).

3. Build the System:

   • Compile and load the Keil code onto the MSP-EXP432E401Y microcontroller.
   • Set up the circuit as described in the documentation and connect the ToF sensor to the stepper motor.

4. Run the System:

   • Connect the MCU to your PC via USB.
   • Press the onboard PJ1 button to start the stepper motor and begin collecting data.
   • Run the Python Code.py script to process and visualize the data in real-time.

📚 Documentation

For a detailed explanation of the system's architecture, algorithms, and setup, refer to the docs/ directory. This includes the circuit schematic, programming flowchart, and step-by-step instructions for device setup and operation.

🌍 Applications

This Spatial Mapping System is suitable for various applications, such as:

• Robotics: Facilitates autonomous navigation and obstacle detection.
• AR/VR: Enhances virtual experiences by integrating real-world spatial data.
• Construction: Useful for site surveying and creating accurate 3D models.
• Healthcare: Assists in surgeries and rehabilitation with precise spatial awareness.