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Affordable Robotic Mobile Mapping System Based on Lidar with Additional Rotating Planar Reflector.

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  • 1Institute of Fundamental Technological Research Polish Academy of Sciences, 02-106 Warsaw, Poland.

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Summary

An affordable robotic mobile 3D mapping system uses a modified Livox lidar to achieve comparable accuracy and range to expensive systems. This innovation expands lidar applicability for detailed 3D mapping in challenging environments.

Keywords:
3D mappingSLAMautomatic calibrationreshape field of viewrobotic mappingsolid-state lidar

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Area of Science:

  • Robotics
  • 3D Mapping
  • Sensor Technology

Background:

  • High-cost lidar systems dominate robotic mobile 3D mapping.
  • Existing systems often lack a wide, non-repetitive field of view.
  • Nuclear facility mapping requires accurate and comprehensive 3D data.

Purpose of the Study:

  • To develop and evaluate an affordable robotic mobile 3D mapping system.
  • To extend the field of view of solid-state lidar sensors.
  • To demonstrate the system's capability in mapping a nuclear facility.

Main Methods:

  • Utilized a Livox Mid-40 lidar with a custom rotating planar reflector.
  • Compared the custom sensor's performance against a Velodyne VLP 16 lidar.
  • Developed calibration, mechanical design, and synchronization methods for system replication.

Main Results:

  • The proposed system achieved satisfactory accuracy and range, comparable to more expensive lidars.
  • The system preserved metric accuracy and the non-repetitive scanning pattern.
  • Achieved a wide field of view (38.4 × 360 degrees) with minimal loss of measurement properties.

Conclusions:

  • The affordable 3D mapping system is a viable alternative for detailed environmental mapping.
  • The method effectively expands the applicability of solid-state lidars.
  • The system successfully generated comparable 3D maps of a nuclear facility.