A Low-Cost and Portable Indoor 3D Mapping Approach Using Biaxial Line Laser Scanners and a One-Dimension Laser Range Finder Integrated with Microelectromechanical Systems
发布时间：2025-01-07 点击次数：
DOI码：10.14358/pers.21-00037r2
所属单位：School of Remote Sensing and Information Engineering, Wuhan University, China
发表刊物：PHOTOGRAMMETRIC ENGINEERING AND REMOTE SENSING
关键字：Calibration,Costs,Laser applications,Mapping,Micromechanics,3-D mapping,Extrinsic calibration,High costs,Laser range finders,Laserscanners,Low-costs,Multiple sensors,One dimension,Point-clouds,Sensor calibration,calibration,laser method,mapping method,one-dimensional modeling,scanner,three-dimensional modeling,MEMS
摘要：Existing indoor 3D mapping solutions suffer from high cost and poor portability. In this article, a low-cost and portable indoor 3D mapping approach using biaxial line laser scanners and a one-dimension laser range finder integrated with microelectromechanical systems is proposed. A multiple-sensor calibration approach is presented to perform the extrinsic calibration of the integrated 3D mapping system. The 2D point cloud acquired by the horizontal laser scanner and the orientation information obtained by the microelectromechanical systems are used as inputs for a simultaneous localization and mapping framework to estimate the 2D poses. The height information acquired by the laser range finder is then fused to obtain the 3D pose, which is applied to restore the actual position and orientation of the 2D point cloud generated by the tilted laser scanner to reconstruct the 3D point cloud of the indoor environment. The experimental results-three typical indoor scenes-demonstrate that the proposed approach can achieve accuracies of 3 cm and 2 degrees. Therefore, the proposed approach is a low-cost, portable, and accurate solution for indoor 3D mapping.
合写作者： Shaohua,Zhao, Xuzhe,Wang, Pengcheng, Qingwu,Hu,Duan
论文类型：期刊论文
学科门类：工学
文献类型：J
卷号：88
期号：5
页面范围：311-321
ISSN号：0099-1112
是否译文：否
CN号：Scopus:2-s2.0-85142337013,WOS:000790575500007,EI:20230613553519
发表时间：2022-05-01
