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Będkowski J., Fitri T.♦, Novel (re-configurable, wearable, light weight, ergonomic) low cost 3D mobile mapping system not only for extreme mapping applications,
LC3D, 8th International ISPRS Workshop: Low-Cost 3D - Sensors, Algorithms, Applications, 2024-12-12/12-13, Brescia (IT), DOI: 10.5194/isprs-archives-XLVIII-2-W8-2024-25-2024, pp.25-30, 2024 Abstract:
This paper presents a novel low cost 3D mapping system designed for fulfilling the gap between existing solutions and constantly growing end-users’ expectations. Firstly, the cost was reduced to minimum by providing an open-source, open-hardware projects. Secondly, the ergonomic, light weight, reconfigurable approach enables a wearable approach to maximize the mobility of the end user. It allows among other things the freedom to walk, crawl and climb. Those are necessities in extreme mobile mapping applications such as cave mapping, construction site survey, search and rescue missions and other unexplored yet applications such as mobile mapping with K9s (trained dogs equipped with 3D mobile mapping systems). The significance of this research is to provide cost effective mobile mapping solution for as large audience as it is possible. Thus, our software is constantly improved for covering more applications e.g. air + ground + underground mapping. Keywords:
Mobile mapping system, SLAM, LiDAR odometry, Normal Distributions Transforms, Gaussians Affiliations:
| Będkowski J. | - | IPPT PAN | | Fitri T. | - | Institute of Mathematical Machines (PL) |
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Będkowski J.♦, Pelka M.♦, Majek K.♦, Fitri T.♦, Naruniec J.♦, Open source robotic 3D mapping framework with ROS - Robot Operating System, PCL - Point Cloud Library and Cloud Compare,
5TH INTERNATIONAL CONFERENCE ON ELECTRICAL ENGINEERING AND INFORMATICS, 2015-08-10/08-11, Legian-Bali (ID), DOI: 10.1109/ICEEI.2015.7352578, pp.644-649, 2015Abstract:
We propose an open source robotic 3D mapping framework based on Robot Operating System, Point Cloud Library and Cloud Compare software extended by functionality of importing and exporting datasets. The added value is an integrated solution for robotic 3D mapping and new publicly available datasets (accurate 3D maps with geodetic precision) for evaluation purpose Datasets were gathered by mobile robot in stop scan fashion. Presented results are a variety of tools for working with such datasets, for task such as: preprocessing (filtering, down sampling), data registration (ICP, NDT), graph optimization (ELCH, LUM), tools for validation (comparison of 3D maps and trajectories), performance evaluation (plots of various outputs of algorithms). The tools form a complete pipeline for 3D data processing. We use this framework as a reference methodology in recent work on SLAM algorithms. Keywords:
Three-dimensional displays, Robot kinematics, Cameras, Mobile communication, Robot sensing systems, XML Affiliations:
| Będkowski J. | - | other affiliation | | Pelka M. | - | Institute of Mathematical Machines (PL) | | Majek K. | - | Institute of Mathematical Machines (PL) | | Fitri T. | - | Institute of Mathematical Machines (PL) | | Naruniec J. | - | Warsaw University of Technology (PL) |
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