Publication Details
Indoor and Outdoor Backpack Mapping with Calibrated Pair of Velodyne LiDARs
Španěl Michal, doc. Ing., Ph.D. (DCGM)
Herout Adam, prof. Ing., Ph.D. (DCGM)
and others
backpack laser mapping, BIM, Velodyne LiDAR, point cloud, GNSS, IMU, sensor
calibration, surveying
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.
@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"
}