Publication detail

Indoor and Outdoor Backpack Mapping with Calibrated Pair of Velodyne LiDARs

VEĽAS, M. ŠPANĚL, M. HEROUT, A.

Original Title

Indoor and Outdoor Backpack Mapping with Calibrated Pair of Velodyne LiDARs

English Title

Indoor and Outdoor Backpack Mapping with Calibrated Pair of Velodyne LiDARs

Type

journal article in Web of Science

Language

en

Original Abstract

This paper presents a human-carried mapping backpack based on a pair of Velodyne LiDAR scanners. Our system is a universal solution both for large scale outdoor and also smaller indoor environments. It benefits from a combination of two LiDAR scanners what makes the odometry estimation more precise. The scanners are mounted under different angles, thus larger space around the backpack is scanned. By fusion with GNSS/INS sub-system, the mapping of featureless environments and also the georeferencing of resulting point cloud is possible. By deploying SoA methods for registration and the loop closure optimization it provides sufficient precision for many applications in BIM (Building Information Modeling), inventory check, construction planning, etc. In our indoor experiments, we evaluated our proposed backpack against ZEB-1 solution, using FARO terrestrial scanner as the reference, yielding similar results in terms of precision, while our system provides higher data density, laser intensity readings, and scalability for large environments.

English abstract

This paper presents a human-carried mapping backpack based on a pair of Velodyne LiDAR scanners. Our system is a universal solution both for large scale outdoor and also smaller indoor environments. It benefits from a combination of two LiDAR scanners what makes the odometry estimation more precise. The scanners are mounted under different angles, thus larger space around the backpack is scanned. By fusion with GNSS/INS sub-system, the mapping of featureless environments and also the georeferencing of resulting point cloud is possible. By deploying SoA methods for registration and the loop closure optimization it provides sufficient precision for many applications in BIM (Building Information Modeling), inventory check, construction planning, etc. In our indoor experiments, we evaluated our proposed backpack against ZEB-1 solution, using FARO terrestrial scanner as the reference, yielding similar results in terms of precision, while our system provides higher data density, laser intensity readings, and scalability for large environments.

Keywords

backpack laser mapping, BIM, Velodyne LiDAR, point cloud, GNSS, IMU, sensor calibration, surveying

Released

29.09.2019

Publisher

NEUVEDEN

Location

NEUVEDEN

ISBN

1424-8220

Periodical

SENSORS

Year of study

19

Number

18

State

CH

Pages from

1

Pages to

34

Pages count

34

URL

Full text in the Digital Library

Documents

BibTex


@article{BUT159985,
  author="Martin {Veľas} and Michal {Španěl} and Adam {Herout}",
  title="Indoor and Outdoor Backpack Mapping with Calibrated Pair of Velodyne LiDARs",
  annote="This paper presents a human-carried mapping backpack based on a pair of Velodyne
LiDAR scanners. Our system is a universal solution both for large scale outdoor
and also smaller indoor environments. It benefits from a combination of two LiDAR
scanners what makes the odometry estimation more precise. The scanners are
mounted under different angles, thus larger space around the backpack is scanned.
By fusion with GNSS/INS sub-system, the mapping of featureless environments and
also the georeferencing of resulting point cloud is possible. By deploying SoA
methods for registration and the loop closure optimization it provides sufficient
precision for many applications in BIM (Building Information Modeling), inventory
check, construction planning, etc. In our indoor experiments, we evaluated our
proposed backpack against ZEB-1 solution, using FARO terrestrial scanner as the
reference, yielding similar results in terms of precision, while our system
provides higher data density, laser intensity readings, and scalability for large
environments.",
  address="NEUVEDEN",
  chapter="159985",
  doi="10.3390/s19183944",
  edition="NEUVEDEN",
  howpublished="online",
  institution="NEUVEDEN",
  number="18",
  volume="19",
  year="2019",
  month="september",
  pages="1--34",
  publisher="NEUVEDEN",
  type="journal article in Web of Science"
}