At present, spatial reconstruction is more and more widely used in areas such as environmental perception. Because multi-layer laser scanners have a certain elevation angle, there are blind areas that cannot be scanned during the reconstruction process. This paper proposes a full-circle spatial reconstruction system using single-layer laser scanner to solve this problem, and introduces its hardware structure, spatial coordinate algorithm and statistical outlier removal algorithm. To this end, a series of experiments are built to compare with a 16-layer laser scanner, combining the rotating drive structure to reconstruct the space of the room and single objects. The experiments show that the system not only has better completeness of spatial reconstruction effect than 16-layer laser scanner, at the same time, there is no missing detection space, and the cost is much lower than 16-layer laser scanner. The data processing steps such as feature point extraction and outlier removal of the system are all processed by the Nvidia Jetson AGX Xavier mini-workstation and then the scanning point cloud images are output through the serial port.
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