Indoor and Outdoor Backpack Mapping with Calibrated Pair of Velodyne LiDARs

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

Indoor and Outdoor Backpack Mapping with Calibrated Pair of Velodyne LiDARs

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

Indoor and Outdoor Backpack Mapping with Calibrated Pair of Velodyne LiDARs

Popis výsledku anglicky

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.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Projekt

Výsledek vznikl pri realizaci vícero projektů. Více informací v záložce Projekty.

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2019

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název periodika

SENSORS

ISSN

1424-8220

e-ISSN

1424-3210

Svazek periodika

19

Číslo periodika v rámci svazku

18

Stát vydavatele periodika

CH - Švýcarská konfederace

Počet stran výsledku

34

Strana od-do

1-34

Kód UT WoS článku

000489187800129

EID výsledku v databázi Scopus

2-s2.0-85072556834