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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| 045 | 2 | |b d20250101 |b d20251231 | |
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| 100 | 1 | |a Gao, Huimin |u College of Resources, Environment and Tourism, Capital Normal University, Beijing, P.R. China; College of Resources, Environment and Tourism, Capital Normal University, Beijing, P.R. China | |
| 245 | 1 | |a RobotSLAM: A Lightweight Low-cost 3D LiDAR SLAM Handheld Device | |
| 260 | |b Copernicus GmbH |c 2025 | ||
| 513 | |a Journal Article | ||
| 520 | 3 | |a 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. | |
| 653 | |a Mapping | ||
| 653 | |a Simultaneous localization and mapping | ||
| 653 | |a Benchmarks | ||
| 653 | |a Indoor environments | ||
| 653 | |a Low cost | ||
| 653 | |a Data processing | ||
| 653 | |a Accuracy | ||
| 653 | |a Lasers | ||
| 653 | |a Laser applications | ||
| 653 | |a Lidar | ||
| 653 | |a Data analysis | ||
| 653 | |a Portable equipment | ||
| 653 | |a Surface roughness | ||
| 653 | |a Complexity | ||
| 653 | |a Equipment costs | ||
| 653 | |a Multisensor fusion | ||
| 653 | |a Density distribution | ||
| 653 | |a Environmental | ||
| 700 | 1 | |a Kong, Gefei |u Department of Civil and Environmental Engineering, Norwegian University of Science and Technology, Trondheim, Norway; Department of Civil and Environmental Engineering, Norwegian University of Science and Technology, Trondheim, Norway | |
| 700 | 1 | |a Huang, Xiaochuan |u Zhengtu 3D (Beijing) Laser Technology Co., Ltd., Beijing, P.R. China; Zhengtu 3D (Beijing) Laser Technology Co., Ltd., Beijing, P.R. China | |
| 700 | 1 | |a Fan, Hongchao |u Department of Civil and Environmental Engineering, Norwegian University of Science and Technology, Trondheim, Norway; Department of Civil and Environmental Engineering, Norwegian University of Science and Technology, Trondheim, Norway | |
| 700 | 1 | |a Zhong, Ruofei |u College of Resources, Environment and Tourism, Capital Normal University, Beijing, P.R. China; College of Resources, Environment and Tourism, Capital Normal University, Beijing, P.R. China | |
| 773 | 0 | |t The International Archives of Photogrammetry, Remote Sensing and Spatial Information Sciences |g vol. XLVIII-G-2025 (2025), p. 497 | |
| 786 | 0 | |d ProQuest |t Engineering Database | |
| 856 | 4 | 1 | |3 Citation/Abstract |u https://www.proquest.com/docview/3234039008/abstract/embedded/J7RWLIQ9I3C9JK51?source=fedsrch |
| 856 | 4 | 0 | |3 Full Text - PDF |u https://www.proquest.com/docview/3234039008/fulltextPDF/embedded/J7RWLIQ9I3C9JK51?source=fedsrch |