Abstract
Abstract. This paper explores the development of an affordable terrestrial laser scanner (TLS) system based on low-cost components and open source software. This paper enumerates components implemented and integrated in both hardware and software aspects. Primarily, the proposed system depends on Mid-40 LiDAR sensor and utilizes Point Cloud Library (PCL), Open Source Computer Vision Library (OpenCV) and Robotic Operating System (ROS) for system operation and data processing. Furthermore, this paper discusses sensor calibration and fusion methods available and implemented in the processing pipeline. The goal of this work is to produce an open source package of software system and hardware designs of a robust version of the TLS system that can be shared and easily reproduced by individuals and communities for their applications.
Highlights
Laser scanning is an essential technology in archeology and heritage preservation projects
This paper explores the development of an affordable open source terrestrial laser scanners (TLS) system based on a low cost Light Detection and Ranging (LiDAR) sensor and open source software, and its technical feasibility
While offline alignment of three point clouds from three TLS locations are satisfactory overall, minor misalignments between consecutive sensor pose scans of each TLS location exist mainly due to drifts and errors produced from yaw and pitch mechanisms as no angular position feedback is implemented at this stage
Summary
Laser scanning is an essential technology in archeology and heritage preservation projects. Despite the extreme accuracy of survey-grade terrestrial laser scanners (TLS), most of them are expensive and could only be utilized in a well-funded situation This limitation forbids archeologists and community-based activities from accessing this technology and its benefits. The architecture of this prototype TLS system is explained and results from a site test scanning of a colonial-era heritage building in Yangon using this developed system is presented. Since this development work is an ongoing work, further experimentations on prospective approaches and modifications to the system pipeline and methodology presented in the current paper will be done in the future . Software packages and documentations developed in this work will be shared and updated at github repository
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