Indoor and Outdoor Backpack Mapping with Calibrated Pair of Velodyne LiDARs

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dc.contributor.authorVeľas, Martincs
dc.contributor.authorŠpaněl, Michalcs
dc.contributor.authorHerout, Adamcs
dc.coverage.issue18cs
dc.coverage.volume19cs
dc.date.issued2019-09-29cs
dc.description.abstractThis 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.en
dc.description.abstractThis 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.en
dc.formattextcs
dc.format.extent1-34cs
dc.format.mimetypeapplication/pdfcs
dc.identifier.citationSENSORS. 2019, vol. 19, issue 18, p. 1-34.en
dc.identifier.doi10.3390/s19183944cs
dc.identifier.issn1424-8220cs
dc.identifier.orcid0000-0003-0880-3732cs
dc.identifier.orcid0000-0003-0193-684Xcs
dc.identifier.orcid0000-0003-2143-9314cs
dc.identifier.other159985cs
dc.identifier.researcheridG-9639-2016cs
dc.identifier.researcheridB-5651-2014cs
dc.identifier.scopus57112528500cs
dc.identifier.scopus22836945200cs
dc.identifier.scopus6506161493cs
dc.identifier.urihttp://hdl.handle.net/11012/180914
dc.language.isoencs
dc.relation.ispartofSENSORScs
dc.relation.urihttps://www.mdpi.com/1424-8220/19/18/3944cs
dc.rightsCreative Commons Attribution 4.0 Internationalcs
dc.rights.accessopenAccesscs
dc.rights.sherpahttp://www.sherpa.ac.uk/romeo/issn/1424-8220/cs
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/cs
dc.subjectbackpack laser mappingen
dc.subjectBIMen
dc.subjectVelodyne LiDARen
dc.subjectpoint clouden
dc.subjectGNSSen
dc.subjectIMUen
dc.subjectsensor calibrationen
dc.subjectsurveyingen
dc.subjectbackpack laser mapping
dc.subjectBIM
dc.subjectVelodyne LiDAR
dc.subjectpoint cloud
dc.subjectGNSS
dc.subjectIMU
dc.subjectsensor calibration
dc.subjectsurveying
dc.titleIndoor and Outdoor Backpack Mapping with Calibrated Pair of Velodyne LiDARsen
dc.title.alternativeIndoor and Outdoor Backpack Mapping with Calibrated Pair of Velodyne LiDARsen
dc.type.driverarticleen
dc.type.statusPeer-revieweden
dc.type.versionpublishedVersionen
sync.item.dbidVAV-159985en
sync.item.dbtypeVAVen
sync.item.insts2025.10.14 14:13:21en
sync.item.modts2025.10.14 10:40:29en
thesis.grantorVysoké učení technické v Brně. Fakulta informačních technologií. Ústav počítačové grafiky a multimédiícs
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