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
Type
journal article in Web of Science
Language
English
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.
Keywords
backpack laser mapping, BIM, Velodyne LiDAR, point cloud, GNSS, IMU, sensor calibration, surveying
Authors
VEĽAS, M.; ŠPANĚL, M.; HEROUT, A.
Released
29. 9. 2019
ISBN
1424-8220
Periodical
SENSORS
Year of study
19
Number
18
State
Swiss Confederation
Pages from
1
Pages to
34
Pages count
34
URL
Full text in the Digital Library
BibTex
@article{BUT159985,
author="Martin {Veľas} and Michal {Španěl} and Adam {Herout}",
title="Indoor and Outdoor Backpack Mapping with Calibrated Pair of Velodyne LiDARs",
journal="SENSORS",
year="2019",
volume="19",
number="18",
pages="1--34",
doi="10.3390/s19183944",
issn="1424-8220",
url="https://www.mdpi.com/1424-8220/19/18/3944"
}Documents