Abstract
This paper presents a method to generate a Georeferenced 3D point cloud of GPS denied built structures using custom made backpack laser scanning system. An orthogonal combination of 2D Hokuyo laser scanners has been used on the backpack system to generate a 3D point cloud of the surveyed environments. The data logging of scanners and simultaneous localization and mapping (SLAM) of the scanning system have been carried out using Robot Operating System (ROS). The developed local SLAM based 3D point cloud solution has been transformed into global Georeferenced 3D point cloud using observed geographic coordinates of nearby GPS visible vicinities. Multiple indoor environments have been scanned and 3D point clouds have been developed which have been found accurate when compared to the ground truth. In comparison to available surveying solutions present in the local market, the developed system has been found more accurate, faster, and user friendly to generate structural results of the surveyed vicinities in detail. The efficacy of the system has been witnessed by local surveying companies by delivering the unique global coordinated solutions on affordable rates.
Highlights
Surveying and inspection of built structures and their neighborhoods are routine practices which have been carried out by concerned public and private organizations
Since the last two decades, the use of optical laser scanners has been started to replace old manual practices and different innovative mechanisms have been introduced on applications of scanners in engineering surveying [1]
The backpack system has been further tested in various real environments
Summary
Surveying and inspection of built structures and their neighborhoods are routine practices which have been carried out by concerned public and private organizations. Many research works have fused together several laser scanners along with additional dead reckoning sensors on backpack systems to generate a 2D/3D model of the environment [7]. This laser scanner lies in class I as per laser safety standard, making it feasible for scanning operations in presence of humans and pets [8]. A robotics group has presented scanning and mapping application in an academic environment and presented probabilistic models using Hokuyo scanner [10]. The developed models are usually referred in local scanner frames, and some research works have provided solutions to represent the generated model in a global coordinated system [11].
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