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Open AccessArticle

Behavior Analysis of Novel Wearable Indoor Mapping System Based on 3D-SLAM

Department of Cartographic and Terrain Engineering, University of Salamanca, 05003 Avila, Spain
Applied Geotechnologies Research Group, University of Vigo, 36310 Vigo, Spain
Author to whom correspondence should be addressed.
Sensors 2018, 18(3), 766;
Received: 3 February 2018 / Revised: 27 February 2018 / Accepted: 1 March 2018 / Published: 2 March 2018
(This article belongs to the Special Issue Indoor LiDAR/Vision Systems)
This paper presents a Wearable Prototype for indoor mapping developed by the University of Vigo. The system is based on a Velodyne LiDAR, acquiring points with 16 rays for a simplistic or low-density 3D representation of reality. With this, a Simultaneous Localization and Mapping (3D-SLAM) method is developed for the mapping and generation of 3D point clouds of scenarios deprived from GNSS signal. The quality of the system presented is validated through the comparison with a commercial indoor mapping system, Zeb-Revo, from the company GeoSLAM and with a terrestrial LiDAR, Faro Focus3D X330. The first is considered as a relative reference with other mobile systems and is chosen due to its use of the same principle for mapping: SLAM techniques based on Robot Operating System (ROS), while the second is taken as ground-truth for the determination of the final accuracy of the system regarding reality. Results show that the accuracy of the system is mainly determined by the accuracy of the sensor, with little increment in the error introduced by the mapping algorithm. View Full-Text
Keywords: wearable mapping prototype; SLAM; indoor mapping; LiDAR; accuracy analysis wearable mapping prototype; SLAM; indoor mapping; LiDAR; accuracy analysis
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Lagüela, S.; Dorado, I.; Gesto, M.; Arias, P.; González-Aguilera, D.; Lorenzo, H. Behavior Analysis of Novel Wearable Indoor Mapping System Based on 3D-SLAM. Sensors 2018, 18, 766.

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