A Handheld 3D mapping technology based on hemispherical laser scanner SLAM approach

doi:10.13474/j.cnki.11-2246.2023.0054

Abstract

Abstract: In order to solve the problem of rapid 3D mapping for indoor and outdoor scenes, a hemispherical laser scanner based simultaneous localization and mapping (SLAM) method is proposed, and a handheld portable 3D laser scanning system integrating hemispherical angle laser scanner and inertial measurement unit(IMU) is designed. Firstly, a ground point cloud segmentation algorithm is proposed to reduce the redundant vertical constraints according to the scanning line structural characteristics of the hemispherical laser scanner. Secondly, a tightly coupled iterative extended Kalman filter (IEKF) is presented to determine the position and attitude with the IMU and the down sampled point cloud. Finally, the incremental back-end optimization processing of factor map is used to eliminate the cumulative error and improve the accuracy of point cloud map. The prototype system developed with the proposed method is implemented to build 3D point cloud maps of typical indoor and outdoor scenes. The results show that the absolute positioning accuracy of this method is better than 4‰ and the relative positioning accuracy is better than 0.3‰. It has broad application prospects in indoor and outdoor integrated 3D mapping.

Key words: simultaneous localization and mapping, hemispherical laser scanner, factor graph optimization, handheld laser scanning system, 3D point cloud

CLC Number:

P237

YANG Honggang. A Handheld 3D mapping technology based on hemispherical laser scanner SLAM approach[J]. Bulletin of Surveying and Mapping, 2023, 0(2): 139-144.

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