Indoor and Outdoor Backpack Mapping with Calibrated Pair of Velodyne LiDARs
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216305%3A26230%2F19%3APU134168" target="_blank" >RIV/00216305:26230/19:PU134168 - isvavai.cz</a>
Result on the web
<a href="https://www.mdpi.com/1424-8220/19/18/3944" target="_blank" >https://www.mdpi.com/1424-8220/19/18/3944</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.3390/s19183944" target="_blank" >10.3390/s19183944</a>
Alternative languages
Result language
angličtina
Original language name
Indoor and Outdoor Backpack Mapping with Calibrated Pair of Velodyne LiDARs
Original language description
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.
Czech name
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Czech description
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Classification
Type
J<sub>imp</sub> - Article in a specialist periodical, which is included in the Web of Science database
CEP classification
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OECD FORD branch
10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)
Result continuities
Project
Result was created during the realization of more than one project. More information in the Projects tab.
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2019
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Name of the periodical
SENSORS
ISSN
1424-8220
e-ISSN
1424-3210
Volume of the periodical
19
Issue of the periodical within the volume
18
Country of publishing house
CH - SWITZERLAND
Number of pages
34
Pages from-to
1-34
UT code for WoS article
000489187800129
EID of the result in the Scopus database
2-s2.0-85072556834