THE USE OF A WIDE FOV LASER SCANNING SYSTEM AND A SLAM ALGORITHM FOR MOBILE APPLICATIONS

THE USE OF A WIDE FOV LASER SCANNING SYSTEM AND A SLAM ALGORITHM FOR MOBILE APPLICATIONS

Blog Article

This paper presents the assessment of a wide-angle laser scanner and a simultaneous telemarkskongen flue localisation and mapping (SLAM) algorithm to estimate the trajectory and generate a 3D map of the environment.A backpack platform composed of an OS0-128 Ouster (FoV 90° × 360°) laser scanner was used to acquire laser data in an area with urban and forest features.Web SLAM, an online SLAM algorithm implemented by Ouster, Inc.

, was used to estimate the trajectory and generate a 3D map in a local reference system.Then, the 3D point clouds were transformed into the ground coordinate system with a rigid body transformation.Three datasets were used: (I) the entire trajectory consisting of forwarding and backwards paths, (II) only forward path, and (III) only backward path.

Visual analysis showed a double mapping error in the point cloud of dataset I.Therefore, the point cloud registration was performed only for offworld drum pads datasets II and III, achieving a centimetric accuracy, which is compatible with the OS0-128 laser scanner accuracy (∼5cm).