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Detail publikace
VEĽAS, M. ŠPANĚL, M. HEROUT, A.
Originální název
Indoor and Outdoor Backpack Mapping with Calibrated Pair of Velodyne LiDARs
Typ
článek v časopise ve Web of Science, Jimp
Jazyk
angličtina
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.
Klíčová slova
backpack laser mapping, BIM, Velodyne LiDAR, point cloud, GNSS, IMU, sensor calibration, surveying
Autoři
VEĽAS, M.; ŠPANĚL, M.; HEROUT, A.
Vydáno
29. 9. 2019
ISSN
1424-8220
Periodikum
SENSORS
Ročník
19
Číslo
18
Stát
Švýcarská konfederace
Strany od
1
Strany do
34
Strany počet
URL
https://www.mdpi.com/1424-8220/19/18/3944
Plný text v Digitální knihovně
http://hdl.handle.net/11012/180914
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" }
Dokumenty
sensors-19-03944.pdf