头盔式激光扫描系统WHU-Helmet

A Helmet-based Laser Scanning System for 3D Dynamic Mapping

摘要:

轻小型穿戴式激光扫描系统具有成本低、体积小、易操作的特点，为室内外一体化三维地理信息获取提供了一种可行方案，是传统移动测量系统的有效补充。相比现有手持及背包激光扫描系统，基于头盔的观测平台与用户视线保持方向一致，具有“所见即所得”的特点，让作业人员双手得到了解放。以自主研发的头盔式激光扫描系统“WHU-Helmet”为对象，设计了基于多尺度正态分布变换的LiDAR-IMU SLAM算法，实现了在室内外环境无缝的实时三维点云数据获取。以两个典型室内外环境为实验区域（办公楼、地铁站），将“WHU-Helmet”获取的三维点云与地面式激光扫描系统获取的三维点云对比，平均误差小于 0.44 m，均方根误差小于 0.23 m，表明了头盔式激光扫描系统在室内外一体化三维测图中具有巨大的潜力。

Abstract:

Compact wearable laser scanning system has the advantages of low cost， small volume and easy operation， which provides a feasible strategy for indoor and outdoor seamless 3D geographic information acquisition. It is an effective supplement to the traditional mobile measurement system. Compared with the existing handheld and backpack laser scanning system， the helmet-based platform keeps the same direction with the user's sight， with the characteristics of “What you see is what you get”， liberating user's hands. Using the self-designed helmet-based laser scanning system， named "WHU-Helmet"， this paper proposes a multi-scale NDT based LiDAR-IMU SLAM. Taking two typical indoor and outdoor environments as the study area （office building and subway station）， the 3D point clouds obtained by "WHU-Helmet" are compared with the 3D point clouds obtained by terrestrial laser scanning. The average error is less than 0.44 m and the root mean square error is less than 0.23 m， which demonstrated that the helmet-based laser scanning system has great potential in indoor and outdoor seamless 3D mapping.