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Affordable Robotic Mobile Mapping System Based on Lidar with Additional Rotating Planar Reflector

This paper describes an affordable robotic mobile 3D mapping system. It is built with Livox Mid–40 lidar with a conic field of view extended by a custom rotating planar reflector. This 3D sensor is compared with the more expensive Velodyne VLP 16 lidar. It is shown that the proposed sensor reaches s...

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Detalles Bibliográficos
Autores principales: Będkowski, Janusz, Pełka, Michał
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2023
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9920869/
https://www.ncbi.nlm.nih.gov/pubmed/36772591
http://dx.doi.org/10.3390/s23031551
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author Będkowski, Janusz
Pełka, Michał
author_facet Będkowski, Janusz
Pełka, Michał
author_sort Będkowski, Janusz
collection PubMed
description This paper describes an affordable robotic mobile 3D mapping system. It is built with Livox Mid–40 lidar with a conic field of view extended by a custom rotating planar reflector. This 3D sensor is compared with the more expensive Velodyne VLP 16 lidar. It is shown that the proposed sensor reaches satisfactory accuracy and range. Furthermore, it is able to preserve the metric accuracy and non–repetitive scanning pattern of the unmodified sensor. Due to preserving the non–repetitive scan pattern, our system is capable of covering the entire field of view of 38.4 × 360 degrees, which is an added value of conducted research. We show the calibration method, mechanical design, and synchronization details that are necessary to replicate our system. This work extends the applicability of solid–state lidars since the field of view can be reshaped with minimal loss of measurement properties. The solution was part of a system that was evaluated during the 3rd European Robotics Hackathon in the Zwentendorf Nuclear Power Plant. The experimental part of the paper demonstrates that our affordable robotic mobile 3D mapping system is capable of providing 3D maps of a nuclear facility that are comparable to the more expensive solution.
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spelling pubmed-99208692023-02-12 Affordable Robotic Mobile Mapping System Based on Lidar with Additional Rotating Planar Reflector Będkowski, Janusz Pełka, Michał Sensors (Basel) Article This paper describes an affordable robotic mobile 3D mapping system. It is built with Livox Mid–40 lidar with a conic field of view extended by a custom rotating planar reflector. This 3D sensor is compared with the more expensive Velodyne VLP 16 lidar. It is shown that the proposed sensor reaches satisfactory accuracy and range. Furthermore, it is able to preserve the metric accuracy and non–repetitive scanning pattern of the unmodified sensor. Due to preserving the non–repetitive scan pattern, our system is capable of covering the entire field of view of 38.4 × 360 degrees, which is an added value of conducted research. We show the calibration method, mechanical design, and synchronization details that are necessary to replicate our system. This work extends the applicability of solid–state lidars since the field of view can be reshaped with minimal loss of measurement properties. The solution was part of a system that was evaluated during the 3rd European Robotics Hackathon in the Zwentendorf Nuclear Power Plant. The experimental part of the paper demonstrates that our affordable robotic mobile 3D mapping system is capable of providing 3D maps of a nuclear facility that are comparable to the more expensive solution. MDPI 2023-01-31 /pmc/articles/PMC9920869/ /pubmed/36772591 http://dx.doi.org/10.3390/s23031551 Text en © 2023 by the authors. https://creativecommons.org/licenses/by/4.0/Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/).
spellingShingle Article
Będkowski, Janusz
Pełka, Michał
Affordable Robotic Mobile Mapping System Based on Lidar with Additional Rotating Planar Reflector
title Affordable Robotic Mobile Mapping System Based on Lidar with Additional Rotating Planar Reflector
title_full Affordable Robotic Mobile Mapping System Based on Lidar with Additional Rotating Planar Reflector
title_fullStr Affordable Robotic Mobile Mapping System Based on Lidar with Additional Rotating Planar Reflector
title_full_unstemmed Affordable Robotic Mobile Mapping System Based on Lidar with Additional Rotating Planar Reflector
title_short Affordable Robotic Mobile Mapping System Based on Lidar with Additional Rotating Planar Reflector
title_sort affordable robotic mobile mapping system based on lidar with additional rotating planar reflector
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9920869/
https://www.ncbi.nlm.nih.gov/pubmed/36772591
http://dx.doi.org/10.3390/s23031551
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