Abstract: In the past two years, backpack 3D laser scanners based on SLAM and point cloud registration have developed rapidly. Unlike mobile scanning measurement systems based on GNSS, this type of equipment can easily obtains 3D point cloud data of targets in complex environments. This paper uses the Heron mobile backpack 3D laser scanning system which is based on IMU combined with the point cloud registration algorithm to conduct a 1:500 large-scale mapping production test, and then evaluates its accuracy and analyzes its efficiency. The results show that the accuracy and efficiency of the mobile backpack 3D laser scanning system in large-scale mapping are not inferior to traditional measuring methods, which demonstrates a vast development prospect of this equipment.

Key words: backpack 3D laser scanning, point cloud registration, 1:500 large scale mapping, accuracy evaluation, efficiency analysis