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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...
Autores principales: | , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
MDPI
2023
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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. |
format | Online Article Text |
id | pubmed-9920869 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2023 |
publisher | MDPI |
record_format | MEDLINE/PubMed |
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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