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Updated: May 10, 2026

Hand Controlled Manipulation of Single Molecules via a Scanning Probe Microscope with a 3D Virtual Reality Interface

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A Compact Handheld Sensor Package with Sensor Fusion for Comprehensive and Robust 3D Mapping.

Peng Wei¹, Kaiming Fu², Juan Villacres¹

¹Department of Biological and Agricultural Engineering, University of California, Davis, CA 95616, USA.

Sensors (Basel, Switzerland)

|April 27, 2024

Summary

This study presents a handheld 3D mapping system using LiDAR-Inertial SLAM and thermal imaging. It creates detailed, color-enriched 3D environmental maps, effective even without GPS.

Keywords:

3D mapping SLAM sensor fusion thermal camera

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Area of Science:

Robotics and Computer Vision
Geospatial Technology
Sensor Fusion

Background:

Accurate 3D environmental mapping is crucial for applications like autonomous navigation and remote sensing.
Existing methods often struggle in GPS-denied or visually degraded environments.
Integrating diverse sensors can enhance mapping robustness and data richness.

Purpose of the Study:

To develop and validate a compact, handheld system for robust 3D environmental mapping.
To create a two-stage sensor fusion pipeline for detailed, color-enriched 3D maps.
To demonstrate the system's effectiveness in diverse indoor and outdoor scenarios.

Main Methods:

A handheld sensor package combining LiDAR, IMU, RGB, and thermal cameras.
Real-time LiDAR-Inertial SLAM for dense point cloud generation.
Post-processing fusion of point cloud data with RGB and thermal imagery.

Main Results:

Successful generation of dense, geometrically accurate 3D point cloud maps.
Production of detailed, color-enriched 3D maps by fusing multi-modal sensor data.
Demonstrated effectiveness across various indoor and outdoor environments.

Conclusions:

The integrated sensor package and fusion pipeline provide a robust solution for 3D environmental mapping.
The system performs well in challenging conditions, including GPS-denied and visually degraded areas.
Potential applications span autonomous navigation, smart agriculture, and other fields requiring detailed 3D environmental data.