A Rover Team Based 3D Map Building Using Low Cost 2D Laser Scanners

Engr Asif Ahmed Memon,Syed Riaz Un Nabi Jafri,Syed Muhammad Usman Ali

doi:10.1109/access.2021.3138836

Engr Asif Ahmed Memon, Syed Riaz Un Nabi Jafri + Show 1 more

Open Access

https://doi.org/10.1109/access.2021.3138836

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Journal: IEEE Access	Publication Date: Jan 1, 2022
Citations: 3	License type: CC BY 4.0

Affiliation: NED University of Engineering and Technology

Abstract

This paper presents a solution to develop 3D map of indoor places using a team of rovers equipped with low cost 2D laser scanners. An orthogonal combination of two RPLidar 2D laser scanners has been used on every rover to build 3D point cloud map of the explored regions. Each rover of the team has been distantly placed inside the surveying environment in order to independently scan and built the unique 3D point cloud map of the region. The interfacing of scanners and the processing of simultaneous localization and mapping (SLAM) technique for each moving rover have been achieved using Robot Operating System (ROS). The individually build 3D maps have been merged in offline mode through sensor fusion application using Kalman Filter (KF) technique. Different indoor vicinities have been tested and complete 3D point cloud maps have been established which have been found accurate when compared to ground truths. The developed point cloud map has been further utilized to establish Building Information Model (BIM) and found valid for the surveyed region. In comparison to existing surveying and scanning solutions of the regional market, the presented method has been found precise, quick and convenient to provide structural details of surveyed entities at highly affordable rates.

Highlights

The role of mobile robotics has been increased with the advancement in the sensor technologies and the availability of low cost and effective rovers
The transformation results have been generated either through planned meet up of rovers or by map merging techniques. In continuance to these state of art contributions, this research work is presenting a unique solution of utilizing a team of two small and low cost rovers for surveying indoor regions and to produce Building Information Model (BIM) [5]
First rover has placed at one end of the vicinity and FIGURE 22. 3D map of the region developed by first rover

Summary

INTRODUCTION

The role of mobile robotics has been increased with the advancement in the sensor technologies and the availability of low cost and effective rovers. Laser scanner has capability to produce accurate Cartesian scan points of surrounding in different lighting conditions whereas visual sensor delivers rich appearance information and often they employed together on mobile robotic units to build 2D/3D maps of the navigated region. The deployment of these rovers can be possible in any structured indoor vicinities in order to perceive the unique building data for accurately modelling the surveyed region. The transformation results have been generated either through planned meet up of rovers or by map merging techniques In continuance to these state of art contributions, this research work is presenting a unique solution of utilizing a team of two small and low cost rovers for surveying indoor regions and to produce Building Information Model (BIM) [5].

A COMPARISON OF MULTIPLE 2D LASER SCANNERS

Results

Conclusion