Design of an indoor mapping system using three 2D laser scanners and 6 DOF SLAM
Design of an indoor mapping system using three 2D laser scanners and 6 DOF SLAM
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使用三个 2D 激光扫描仪和 6 DOF SLAM 设计室内测绘系统
DOI：
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发表时间：
2014
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通讯作者：
G. Vosselman
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文献类型：
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作者：
G. Vosselman
本文介绍了一种基于三台二维激光扫描仪的室内测绘系统的设计，以及一种对距离测量进行处理的方法，从而可以同时估计系统的姿态和地板、天花板和墙壁的平面。通过组合使用所有三个扫描仪的测量结果，可以在不需要IMU的情况下以3D方式重建系统的姿态。这六个姿势参数被建模为随时间的连续函数，使得由快速扫描器移动引起的扫描线变形不会导致估计姿势中的偏差。通过对两个室内模型的模拟传感器数据重建结果的分析，证明了该方法的理论可行性。对10×20m走廊数据的测量结果表明，在测距噪声为3 cm、传感器完全标定的情况下，经过3个回环后，平面定位精度优于0.1度，平面距离的标准偏差小于1.5 cm。
We present the design for a new indoor mapping system based on three 2D laser scanners as well as a method to process the range measurements such that the pose of the system and the planes of floor, ceiling and walls can be estimated simultaneously. By the combined use of the measurements of all three scanners the pose of the system can be reconstructed in 3D without the need for an IMU. The six pose parameters are modelled as a continuous function over time such that scan line deformations caused by rapid scanner movements do not lead to biases in the estimated poses. The theoretical feasibility of the approach is demonstrated by analysing reconstruction results derived from simulated sensor data of two indoor models. Assuming a perfectly calibrated sensor and ranging noise of 3 cm, the results on data in 10x20 m corridor show that the plane orientation precision is better than 0.1 degree and that the standard deviation of plane-to-plane distances is below 1.5 cm after three loops in the corridor.