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Open AccessArticle

Indoor and Outdoor Backpack Mapping with Calibrated Pair of Velodyne LiDARs

1
Department of Computer Graphics and Multimedia, Faculty of Information Technology, Brno University of Technology, Bozetechova 1/2, 612 66 Brno, Czech Republic
2
Geodrom Company, Bohunicka 81, 619 00 Brno, Czech Republic
*
Author to whom correspondence should be addressed.
Sensors 2019, 19(18), 3944; https://doi.org/10.3390/s19183944
Received: 19 July 2019 / Revised: 22 August 2019 / Accepted: 29 August 2019 / Published: 12 September 2019
(This article belongs to the Special Issue Mobile Laser Scanning Systems)
This paper presents a human-carried mapping backpack based on a pair of Velodyne LiDAR scanners. Our system is a universal solution for both large scale outdoor and smaller indoor environments. It benefits from a combination of two LiDAR scanners, which makes the odometry estimation more precise. The scanners are mounted under different angles, thus a larger space around the backpack is scanned. By fusion with GNSS/INS sub-system, the mapping of featureless environments and 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. View Full-Text
Keywords: backpack laser mapping; BIM; Velodyne LiDAR; point cloud; GNSS; IMU; sensor calibration; surveying backpack laser mapping; BIM; Velodyne LiDAR; point cloud; GNSS; IMU; sensor calibration; surveying
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MDPI and ACS Style

Velas, M.; Spanel, M.; Sleziak, T.; Habrovec, J.; Herout, A. Indoor and Outdoor Backpack Mapping with Calibrated Pair of Velodyne LiDARs. Sensors 2019, 19, 3944. https://doi.org/10.3390/s19183944

AMA Style

Velas M, Spanel M, Sleziak T, Habrovec J, Herout A. Indoor and Outdoor Backpack Mapping with Calibrated Pair of Velodyne LiDARs. Sensors. 2019; 19(18):3944. https://doi.org/10.3390/s19183944

Chicago/Turabian Style

Velas, Martin; Spanel, Michal; Sleziak, Tomas; Habrovec, Jiri; Herout, Adam. 2019. "Indoor and Outdoor Backpack Mapping with Calibrated Pair of Velodyne LiDARs" Sensors 19, no. 18: 3944. https://doi.org/10.3390/s19183944

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