多种类型LiDAR传感器的比较性能评估及其适用于人行道高清映射的应用
Dongha Lee1, Sungho Kang2, Jaecheol Lee3
1Department of Civil Engineering, Kangwon National University, Chuncheon 24341, Republic of Korea.
Sensors (Basel, Switzerland)
|March 14, 2026
概括
这项研究比较了六个移动LiDAR系统,用于详细地图化人行道. 车载系统在封闭区域表现出色,而基于SLAM的手持设备在具有挑战性的GPS环境中改善了导航.
科学领域:
- 地理学工程 工程地质学
- 机器人技术 机器人技术 机器人技术
- 城市规划 城市规划
背景情况:
- 高清 (HD) 路面地图要求对行人障碍物进行厘米级的准确性.
- 准确地绘制地图对于移动性援助和无障碍的基础设施管理至关重要.
研究的目的:
- 评估六个移动光检测和测距 (LiDAR) 平台用于人行道高清映射.
- 在不同的站点条件下比较平台性能 (封闭,GNSS可用性).
主要方法:
- 六个LiDAR平台进行了测试:TLS,车MMS,背包 (GNSS/INS辅助,基于SLAM) 和手持 (GNSS/INS辅助,基于SLAM).
- 在公园和密集的市中心走廊进行了调查.
- 用独立的检查点评估点云的绝对准确性.
主要成果:
- 参考数据集实现了0.017-0.049米的平面RMSE和0.009-0.014米的垂直RMSE.
- 装在车上的MMS在封闭区域显示稳定的几何形状.
- 基于SLAM的手持式绘图在GNSS降级区提高了稳定性;背包SLAM性能随循环关闭和动态变化而变化.
结论:
- 为选择行人级LiDAR平台用于人行道高清映射提供了指导.
- 平台的选择取决于特定的调查条件,包括遮蔽和GNSS可用性.
- 了解平台的优势是有效的可访问性映射的关键.
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