Abstract
Abstract. In recent years a wide range of 3D multi sensor systems for various applications has been proposed. Each of them has its own benefits and limitations. This paper proposes a modified unicycle with a 2D laser profiler attached to the wheel axle, thus creating a radial 3D scanning pattern. This novel low-cost device combines the advantages of wheeled scanning equipment with those of wearable or hand-held devices. After presenting the hardware setup and the sensor integration, the results are evaluated using four test scenarios and a terrestrial laser scanner for comparison.
Highlights
In recent years, optical 3D measurement devices have undergone a rapid development
Known as personal laser scanning, such as “The Cartographer” by Google (Frederic Lardinois, TC, 2015), the Zebedee 3D sensor system (Bosse et al, 2012), the Leica Pegasus:Backpack (Leica, 2015) or our own backpack mobile mapping system (Lauterbach et al, 2015), have been presented as ideal solutions to overcome these issues for indoor mapping
Inspired by the concept of a surveyor’s wheel, this paper continues the work on a low-cost 3D scanning solution, RADLER1, that consists of a 2D laser scanner mounted on the axle of a unicycle
Summary
Optical 3D measurement devices have undergone a rapid development. With increased speed and accuracy on the one hand and decreased weight and hardware costs on the other hand they are on the way of becoming the standard measurement tool in many disciplines. Mobile mapping systems consisting of sensors mounted on cars are the state of the art for mapping urban environments They are limited to areas that are accessible by car. It is simple and easy to operate, steering the wheel is not possible since the localization is only performed in an intrinsic manner, which requires a straight the path. Inspired by the concept of a surveyor’s wheel, this paper continues the work on a low-cost 3D scanning solution, RADLER1 (a RADial LasER scanning device), that consists of a 2D laser scanner mounted on the axle of a unicycle (cf Fig. 1), first presented in (Borrmann et al, 2018). The improved data processing pipeline presented here leads to better initial poses reducing this effect
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