scholarly journals LOW-COST WHEELED ROBOT-BORNE LASER SCANNING SYSTEM FOR INDOOR AND OUTDOOR 3D MAPPING APPLICATION

2019 ◽  
Vol XLII-2/W13 ◽  
pp. 1155-1159
Author(s):  
W. Wu ◽  
C. Chen ◽  
Y. Cong ◽  
Z. Dong ◽  
J. Li ◽  
...  
Keyword(s):  
Laser Scanning ◽  
Low Cost ◽  
Laser Scanner ◽  
Point Clouds ◽  
Measurement Unit ◽  
Scanning System ◽  
Outdoor Scenes ◽  
Wheeled Robot ◽  
Laser Scanning System ◽  
Indoor And Outdoor

<p><strong>Abstract.</strong> Aiming to accomplish automatic and real-time three-dimensional mapping in both indoor and outdoor scenes, a low-cost wheeled robot-borne laser scanning system is proposed in this paper. The system includes a laser scanner, an inertial measurement unit, a modified turtlebot3 two-wheel differential chassis and etc. To achieve a globally consistent map, the system performs global trajectory optimization after detecting the loop closure. Experiments are undertaken in two typical indoor/outdoor scenes that is an underground car park and a road environment in the campus of Wuhan University. The point clouds acquired by the proposed system are quantitatively evaluated by comparing the derived point clouds with the ground truth data collected by a RIEGL VZ 400 laser scanner. The results present an accuracy of 90% points below 0.1 meter error in the tested scene, showing that its applicability and potential in indoor and mapping applications.</p>

scholarly journals SEGMENT-BASED LIDAR ODOMETRY FOR LESS STRUCTURED OUTDOOR SCENE

2020 ◽  
Vol XLIII-B1-2020 ◽  
pp. 535-540
Author(s):  
W. Wu ◽  
C. Chen ◽  
J. Li ◽  
Y. Cong ◽  
B. Yang
Keyword(s):  
Laser Scanning ◽  
State Of The Art ◽  
Low Cost ◽  
Sampling Strategy ◽  
Point Clouds ◽  
Scanning System ◽  
System A ◽  
Outdoor Scenes ◽  
Wheeled Robot ◽  
Laser Scanning System

Abstract. Accurate registration of sparse sequential point clouds data frames acquired by a 3D light detection and ranging (LiDAR) sensor like VLP-16 is a prerequisite for the back-end optimization of general LiDAR SLAM algorithms to achieve a globally consistent map. This process is also called LiDAR odometry. Aiming to achieve lower drift and robust LiDAR odometry in less structured outdoor scene using a low-cost wheeled robot-borne laser scanning system, a segment-based sampling strategy for LiDAR odometry is proposed in this paper. Proposed method was tested in two typical less structured outdoor scenes and compared with other two state of the art methods. The results reveal that the proposed method achieves lower drift and significantly outperform the state of the art.

scholarly journals LOW COST MULTI-SENSOR ROBOT LASER SCANNING SYSTEM AND ITS ACCURACY INVESTIGATIONS FOR INDOOR MAPPING APPLICATION

2017 ◽  
Vol XLII-2/W8 ◽  
pp. 83-85 ◽  
Author(s):  
C. Chen ◽  
X. Zou ◽  
M. Tian ◽  
J. Li ◽  
W. Wu ◽  
...  
Keyword(s):  
Inertial Measurement Unit ◽  
Laser Scanning ◽  
Low Cost ◽  
Laser Scanner ◽  
Ground Truth ◽  
Measurement Unit ◽  
Scanning System ◽  
Ground Truth Data ◽  
Multiple Sensor ◽  
Laser Scanning System

In order to solve the automation of 3D indoor mapping task, a low cost multi-sensor robot laser scanning system is proposed in this paper. The multiple-sensor robot laser scanning system includes a panorama camera, a laser scanner, and an inertial measurement unit and etc., which are calibrated and synchronized together to achieve simultaneously collection of 3D indoor data. Experiments are undertaken in a typical indoor scene and the data generated by the proposed system are compared with ground truth data collected by a TLS scanner showing an accuracy of 99.2% below 0.25 meter, which explains the applicability and precision of the system in indoor mapping applications.

Development, Calibration and Evaluation of a Portable and Direct Georeferenced Laser Scanning System for Kinematic 3D Mapping

2015 ◽  
Vol 9 (4) ◽  
Author(s):  
Erik Heinz ◽  
Christian Eling ◽  
Markus Wieland ◽  
Lasse Klingbeil ◽  
Heiner Kuhlmann
Keyword(s):  
Laser Scanning ◽  
Attitude Determination ◽  
Low Cost ◽  
Laser Scanner ◽  
Point Clouds ◽  
Scanning System ◽  
Planar Surfaces ◽  
Laser Scanners ◽  
Scanning Geometry ◽  
Laser Scanning System

AbstractIn recent years, kinematic laser scanning has become increasingly popular because it offers many benefits compared to static laser scanning. The advantages include both saving of time in the georeferencing and a more favorable scanning geometry. Often mobile laser scanning systems are installed on wheeled platforms, which may not reach all parts of the object. Hence, there is an interest in the development of portable systems, which remain operational even in inaccessible areas. The development of such a portable laser scanning system is presented in this paper. It consists of a lightweight direct georeferencing unit for the position and attitude determination and a small low-cost 2D laser scanner. This setup provides advantages over existing portable systems that employ heavy and expensive 3D laser scanners in a profiling mode.A special emphasis is placed on the system calibration, i. e. the determination of the transformation between the coordinate frames of the direct georeferencing unit and the 2D laser scanner. To this end, a calibration field is used, which consists of differently orientated georeferenced planar surfaces, leading to estimates for the lever arms and boresight angles with an accuracy of mm and one-tenth of a degree. Finally, point clouds of the mobile laser scanning system are compared with georeferenced point clouds of a high-precision 3D laser scanner. Accordingly, the accuracy of the system is in the order of cm to dm. This is in good agreement with the expected accuracy, which has been derived from the error propagation of previously estimated variance components.

scholarly journals ANALYSIS OF THE POSSIBILITIES OF USING LOW-COST SCANNING SYSTEM IN 3D MODELING

2016 ◽  
Vol XLI-B3 ◽  
pp. 261-267
Author(s):  
M. Kedzierski ◽  
D. Wierzbickia ◽  
A. Fryskowska ◽  
B. Chlebowska
Keyword(s):  
3D Modeling ◽  
Point Cloud ◽  
Laser Scanning ◽  
Low Cost ◽  
Comparative Method ◽  
Research Work ◽  
Laser Scanner ◽  
Method Comparison ◽  
Point Clouds ◽  
Scanning System

The laser scanning technique is still a very popular and fast growing method of obtaining information on modeling 3D objects. The use of low-cost miniature scanners creates new opportunities for small objects of 3D modeling based on point clouds acquired from the scan. The same, the development of accuracy and methods of automatic processing of this data type is noticeable. The article presents methods of collecting raw datasets in the form of a point-cloud using a low-cost ground-based laser scanner FabScan. As part of the research work 3D scanner from an open source FabLab project was constructed. In addition, the results for the analysis of the geometry of the point clouds obtained by using a low-cost laser scanner were presented. Also, some analysis of collecting data of different structures (made of various materials such as: glass, wood, paper, gum, plastic, plaster, ceramics, stoneware clay etc. and of different shapes: oval and similar to oval and prism shaped) have been done. The article presents two methods used for analysis: the first one - visual (general comparison between the 3D model and the real object) and the second one - comparative method (comparison between measurements on models and scanned objects using the mean error of a single sample of observations). The analysis showed, that the low-budget ground-based laser scanner FabScan has difficulties with collecting data of non-oval objects. Items built of glass painted black also caused problems for the scanner. In addition, the more details scanned object contains, the lower the accuracy of the collected point-cloud is. Nevertheless, the accuracy of collected data (using oval-straight shaped objects) is satisfactory. The accuracy, in this case, fluctuates between ± 0,4 mm and ± 1,0 mm whereas when using more detailed objects or a rectangular shaped prism the accuracy is much more lower, between 2,9 mm and ± 9,0 mm. Finally, the publication presents the possibility (for the future expansion of research) of modernization FabScan by the implementation of a larger amount of camera-laser units. This will enable spots the registration , that are less visible.

scholarly journals Design and Evaluation of a Permanently Installed Plane-Based Calibration Field for Mobile Laser Scanning Systems

2020 ◽  
Vol 12 (3) ◽  
pp. 555 ◽  
Author(s):  
Erik Heinz ◽  
Christoph Holst ◽  
Heiner Kuhlmann ◽  
Lasse Klingbeil
Keyword(s):  
Reference Point ◽  
Laser Scanning ◽  
Point Clouds ◽  
Measurement Unit ◽  
Scanning System ◽  
Control Points ◽  
Lever Arm ◽  
Laser Scanning System ◽  
The Impact ◽  
Scanning Systems

Mobile laser scanning has become an established measuring technique that is used for many applications in the fields of mapping, inventory, and monitoring. Due to the increasing operationality of such systems, quality control w.r.t. calibration and evaluation of the systems becomes more and more important and is subject to on-going research. This paper contributes to this topic by using tools from geodetic configuration analysis in order to design and evaluate a plane-based calibration field for determining the lever arm and boresight angles of a 2D laser scanner w.r.t. a GNSS/IMU unit (Global Navigation Satellite System, Inertial Measurement Unit). In this regard, the impact of random, systematic, and gross observation errors on the calibration is analyzed leading to a plane setup that provides accurate and controlled calibration parameters. The designed plane setup is realized in the form of a permanently installed calibration field. The applicability of the calibration field is tested with a real mobile laser scanning system by frequently repeating the calibration. Empirical standard deviations of <1 ... 1.5 mm for the lever arm and <0.005 ∘ for the boresight angles are obtained, which was priorly defined to be the goal of the calibration. In order to independently evaluate the mobile laser scanning system after calibration, an evaluation environment is realized consisting of a network of control points as well as TLS (Terrestrial Laser Scanning) reference point clouds. Based on the control points, both the horizontal and vertical accuracy of the system is found to be < 10 mm (root mean square error). This is confirmed by comparisons to the TLS reference point clouds indicating a well calibrated system. Both the calibration field and the evaluation environment are permanently installed and can be used for arbitrary mobile laser scanning systems.

scholarly journals A CALIBRATION METHOD OF TWO MOBILE LASER SCANNING SYSTEM UNITS FOR RAILWAY MEASUREMENT

2020 ◽  
Vol XLIII-B1-2020 ◽  
pp. 277-283
Author(s):  
K. Yamamoto ◽  
T. Chen ◽  
N. Yabuki
Keyword(s):  
Laser Scanning ◽  
Laser Scanner ◽  
Point Clouds ◽  
Calibration Method ◽  
Railway Vehicle ◽  
Scanning System ◽  
Mean Square ◽  
Least Mean Square ◽  
Linear Type ◽  
Laser Scanning System

Abstract. This paper proposes a methodology to calibrate the laser scanner of a Mobile Laser Scanning System (MLS) with the trajectory of the other MLS, both of which are installed directly above the top of both rails. Railway vehicle laser scanners systems of MLS are able to obtain 3D scanning map of the rail environment. In order to adapt the actual site condition of the maintenance works, we propose a calibration method with non-linear Least Mean Square calculation which use point clouds around poles along rails and sleepers of rails as cylindrical and planner constraints. The accuracy of 0.006 m between two laser point clouds can be achieved with this method. With the common planar and cylinder condition Leven-Marquardt method has been applied for this method. This method can execute without a good initial value for the extrinsic parameter and can shorten the processing time compared with the linear type of Least Mean Square method.

scholarly journals ANALYSIS OF THE POSSIBILITIES OF USING LOW-COST SCANNING SYSTEM IN 3D MODELING

2016 ◽  
Vol XLI-B3 ◽  
pp. 261-267
Author(s):  
M. Kedzierski ◽  
D. Wierzbickia ◽  
A. Fryskowska ◽  
B. Chlebowska
Keyword(s):  
3D Modeling ◽  
Point Cloud ◽  
Laser Scanning ◽  
Low Cost ◽  
Comparative Method ◽  
Research Work ◽  
Laser Scanner ◽  
Method Comparison ◽  
Point Clouds ◽  
Scanning System

The laser scanning technique is still a very popular and fast growing method of obtaining information on modeling 3D objects. The use of low-cost miniature scanners creates new opportunities for small objects of 3D modeling based on point clouds acquired from the scan. The same, the development of accuracy and methods of automatic processing of this data type is noticeable. The article presents methods of collecting raw datasets in the form of a point-cloud using a low-cost ground-based laser scanner FabScan. As part of the research work 3D scanner from an open source FabLab project was constructed. In addition, the results for the analysis of the geometry of the point clouds obtained by using a low-cost laser scanner were presented. Also, some analysis of collecting data of different structures (made of various materials such as: glass, wood, paper, gum, plastic, plaster, ceramics, stoneware clay etc. and of different shapes: oval and similar to oval and prism shaped) have been done. The article presents two methods used for analysis: the first one - visual (general comparison between the 3D model and the real object) and the second one - comparative method (comparison between measurements on models and scanned objects using the mean error of a single sample of observations). The analysis showed, that the low-budget ground-based laser scanner FabScan has difficulties with collecting data of non-oval objects. Items built of glass painted black also caused problems for the scanner. In addition, the more details scanned object contains, the lower the accuracy of the collected point-cloud is. Nevertheless, the accuracy of collected data (using oval-straight shaped objects) is satisfactory. The accuracy, in this case, fluctuates between ± 0,4 mm and ± 1,0 mm whereas when using more detailed objects or a rectangular shaped prism the accuracy is much more lower, between 2,9 mm and ± 9,0 mm. Finally, the publication presents the possibility (for the future expansion of research) of modernization FabScan by the implementation of a larger amount of camera-laser units. This will enable spots the registration , that are less visible.

scholarly journals A GNSS-FREE UNMANNED AERIAL LASER SCANNING SYSTEM

2020 ◽  
Vol XLIII-B2-2020 ◽  
pp. 83-90
Author(s):  
M. Shahbazi ◽  
C. Cortes ◽  
P. Ménard ◽  
J. S. Bilodeau
Keyword(s):  
Laser Scanning ◽  
Low Cost ◽  
Point Clouds ◽  
Bundle Adjustment ◽  
Measurement Unit ◽  
Scanning System ◽  
Dual Frequency ◽  
Gnss Receiver ◽  
Intrinsic Parameters ◽  
The Individual

Abstract. In this paper, the procedure of developing and evaluating a UAV-borne mapping system is described. The system is equipped with both a LiDAR and a camera. The system mounting parameters, as well as the intrinsic parameters of the individual sensors, are calibrated rigorously. Simultaneous calibration of the LiDAR intrinsic parameters and the LiDAR-camera mounting parameters is performed in a self-calibrating bundle adjustment with additional relative orientation constraints. A visual-inertial approach is proposed to georeference the laser scans without using a GNSS receiver. This approach is motivated not only by the interest of users in low-cost systems but also by the fact that the integrity of GNSS signals might be affected under several environmental conditions, e.g., indoors, in urban canyons, under tree canopies. It is shown that a low-cost inertial measurement unit not equipped with a dual-frequency, real-time kinematic GNSS receiver is still useful for georeferencing the laser scanning data with cm-level accuracy. The scans are also textured using the images captured by the camera, which enriches the LiDAR point clouds with spectral information.

scholarly journals A LIGHTWEIGHT UAV-BASED LASER SCANNING SYSTEM FOR FOREST APPLICATION

2018 ◽  
Vol 24 (3) ◽  
pp. 318-334 ◽  
Author(s):  
Fernanda Magri Torres ◽  
Antonio Maria Garcia Tommaselli
Keyword(s):  
Laser Scanning ◽  
Accuracy Assessment ◽  
Low Cost ◽  
Temporal Frequency ◽  
Laser Scanner ◽  
Satellite System ◽  
Measurement Unit ◽  
Raspberry Pi ◽  
Scanning System ◽  
Point Density

Abstract Lightweight Unmanned Aerial Vehicles (UAVs) have become a cost effective alternative for studies which use aerial Remote Sensing with high temporal frequency requirements for small areas. Laser scanner devices are widely used for rapid tridimensional data acquisition, mainly as a complementary data source to photogrammetric surveying. Recent studies using laser scanner systems onboard UAVs for forestry inventory and mapping applications have presented encouraging results. This work describes the development and accuracy assessment of a low cost mapping platform composed by an Ibeo Lux scanner, a GNSS (Global Navigation Satellite System) antenna, an Inertial Navigation System Novatel Span-IGM-S1, integrating a GNSS receiver and an IMU (Inertial Measurement Unit), a Raspberry PI portable computer and an octopter UAV. The system was assessed in aerial mode using an UAV octopter developed by SensorMap Company. The resulting point density in a plot with trees concentration was also evaluated. The point density of this device is lower than conventional Airborne Laser Systems but the results showed that altimetric accuracy with this system is around 30 cm, which is acceptable for forest applications. The main advantages of this system are their low weight and low cost, which make it attractive for several applications.

scholarly journals Under-Canopy UAV Laser Scanning Providing Canopy Height and Stem Volume Accurately

2021 ◽  
Author(s):  
Juha Hyyppä ◽  
Xiaowei Yu ◽  
Teemu Hakala ◽  
Harri Kaartinen ◽  
Antero Kukko ◽  
...  
Keyword(s):  
Data Collection ◽  
Standard Error ◽  
Laser Scanning ◽  
Laser Scanner ◽  
Point Clouds ◽  
Canopy Height ◽  
Stem Volume ◽  
Scanning System ◽  
Individual Trees ◽  
Laser Scanning System

Automation of forest field reference data collection has been an intensive research objective for laser scanning scientists ever since the invention of terrestrial laser scanning more than two decades ago. Recently, it has been proposed that such automated data collection providing both the tree heights and stem curves would require a combination of above-canopy UAV point clouds and terrestrial point clouds. In this study, we demonstrate that an under-canopy UAV laser scanning system utilizing a rotating laser scanner can alone provide accurate estimates of the canopy height and the stem volume for the majority of the trees in a boreal forest. To this end, we mounted a rotating laser scanner based on a Velodyne VLP-16 sensor onboard a manually piloted UAV. The UAV was commanded with the help of a live video feed from the onboard camera of the UAV. Since the system was based on a rotating laser scanner providing varying view angles, all important elements such as treetops, branches, trunks, and ground could be recorded with laser hits. In an experiment including two different forest structures, namely sparse and obstructed canopy, we showed that our system can measure the heights of individual trees with a bias of -20 cm and a standard error of 40 cm in the sparse forest and with a bias of -65 cm and a standard error of 1 m in the obstructed forest. The accuracy of the obtained tree height estimates was equivalent to airborne above-canopy UAV surveys conducted in similar forest conditions. The higher underestimation and higher inaccuracy in the obstructed site can be attributed to three trees with a height exceeding 25 m and the applied laser scanning system VLP-16 that had a limited height measurement capacity when it comes to trees taller than 25 m. Additionally, we used our system to estimate the stem volumes of individual trees with a standard error at the level of 10%. This level of error is equivalent to the error obtained when merging above-canopy UAV laser scanner data with terrestrial point cloud data. Future research is needed for testing new sensors, for implementing autonomous operation inside canopies through collision avoidance and navigation through canopies, and for developing robust methods that work also with more complex forest structure. The results show that we do not necessarily need a combination of terrestrial point clouds and point clouds collected using above-canopy UAV systems in order to accurately estimate the heights and the volumes of individual trees.

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