RobotSLAM: A Lightweight Low-cost 3D LiDAR SLAM Handheld Device
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| Publicado no: | The International Archives of Photogrammetry, Remote Sensing and Spatial Information Sciences vol. XLVIII-G-2025 (2025), p. 497 |
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| Autor principal: | |
| Outros Autores: | , , , |
| Publicado em: |
Copernicus GmbH
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| Acesso em linha: | Citation/Abstract Full Text - PDF |
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| Resumo: | As the importance of Mobile Laser Scanning (MLS) technology in 3D mapping continues to grow, the development of low-cost, portable devices to address the complex mapping needs of various environments has become a key area of research in the industry. Currently, handheld MLS devices are increasingly being applied in a wide range of surveying tasks, especially in small outdoor spaces, indoor environments, and narrow areas with limited accessibility. This study proposes the development of a novel handheld mobile laser scanning system, RobotSLAM Lite. The system integrates a LiDAR sensor and a fisheye camera through a multi-sensor fusion approach to enable Simultaneous Localization and Mapping (SLAM). A dedicated data processing platform, RobotSLAM Engine, has also been developed to generate and optimize point cloud maps with true-color information. To evaluate the system’s performance, the study was conducted at the Norwegian University of Science and Technology, utilizing an experimental building and nearby roads as test sites. High-precision point cloud data obtained from a terrestrial laser scanner (Leica ScanStation P30 TLS) and RTK measurement Ground Control Points (GCPs) were used as reference benchmarks. A four-metric evaluation framework, comprising absolute coordinate deviation, point cloud density distribution, surface roughness, and cloud-to-cloud distance (C2C), was established to quantitatively analyze the mapping accuracy of the device in indoor and outdoor scenarios at various scales. Experimental results indicate that RobotSLAM Lite provides centimeter-level accuracy while significantly reducing both equipment cost and operational complexity, offering a new technological solution for 3D mapping in both large and small spaces. |
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| ISSN: | 1682-1750 2194-9034 0252-8231 0256-1840 |
| DOI: | 10.5194/isprs-archives-XLVIII-G-2025-497-2025 |
| Fonte: | Engineering Database |