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

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.