Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography (한국측량학회지)

Korean Society of Surveying, Geodesy, Photogrammetry and Cartography (한국측량학회)
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Development of LiDAR Simulator for Backpack-mounted Mobile Indoor Mapping System

  • Chung, Minkyung (Dept. of Civil and Environmental Engineering, Seoul National University) ;
  • Kim, Changjae (Dept. of Civil and Environmental Engineering, Myongji University) ;
  • Choi, Kanghyeok (Dept. of Civil and Environmental Engineering, Seoul National University) ;
  • Chung, DongKi (IMU Korea Ltd.) ;
  • Kim, Yongil (Dept. of Civil and Environmental Engineering, Seoul National University)
  • Received : 2017.03.22
  • Accepted : 2017.04.27
  • Published : 2017.04.30
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Abstract

Backpack-mounted mapping system is firstly introduced for flexible movement in indoor spaces where satellite-based localization is not available. With the achieved advances in miniaturization and weight reduction, use of LiDAR (Light Detection and Ranging) sensors in mobile platforms has been increasing, and indeed, they have provided high-precision information on indoor environments and their surroundings. Previous research on the development of backpack-mounted mapping systems, has concentrated mostly on the improvement of data processing methods or algorithms, whereas practical system components have been determined empirically. Thus, in the present study, a simulator for a LiDAR sensor (Velodyne VLP-16), was developed for comparison of the effects of diverse conditions on the backpack system and its operation. The simulated data was analyzed by visual inspection and comparison of the data sets' statistics, which differed according to the LiDAR arrangement and moving speed. Also, the data was used as input to a point-cloud registration algorithm, ICP (Iterative Closest Point), to validate its applicability as pre-analysis data. In fact, the results indicated centimeter-level accuracy, thus demonstrating the potentials of simulation data to be utilized as a tool for performance comparison of pointdata processing methods.

Keywords

References

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