Detail publikace

Indoor and Outdoor Backpack Mapping with Calibrated Pair of Velodyne LiDARs

VEĽAS, M. ŠPANĚL, M. HEROUT, A.

Originální název

Indoor and Outdoor Backpack Mapping with Calibrated Pair of Velodyne LiDARs

Anglický název

Indoor and Outdoor Backpack Mapping with Calibrated Pair of Velodyne LiDARs

Jazyk

en

Originální abstrakt

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.

Anglický abstrakt

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.

Plný text v Digitální knihovně

Dokumenty

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"
}