3D LiDAR Based SLAM System Evaluation with Low-Cost Real-Time Kinematics GPS Solution

Hensel, Stefan; Marinov, Marin B.; Obert, Markus

doi:10.3390/computation10090154

Cited by 3 publications

(3 citation statements)

References 28 publications

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“…The MMS acquisition resulted in a single scan (Table 3) while maintaining the strictest adherence to the methods suggested by the user manual and bibliography (Hensel et al, 2022): a multipath and closed route was planned (Figure 9), and many closed circles were carried out, for the best possible accuracy of the data solution. In addition, the operator made sure to carry out slow movements by slowing down its walking speed in comparison to prior test fields.…”

Section: Calle Larga S Martamentioning

confidence: 99%

Digitization Approaches for Urban Cultural Heritage: Last Generation MMS Within Venice Outdoor Scenarios

Martino,

Breggion,

Balletti

et al. 2023

Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci.

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Abstract. This paper explores the use of Mobile Mapping Systems (MMSs) for urban Cultural Heritage (CH) documentation, which has become an increasingly important tool in surveying for rapid and accurate mapping of both internal and external environments. The study evaluates the performance of the STONEX® X120GO SLAM Laser Scanner, a recent commercial MMS, in documenting CH in various outdoor applications, including urban environments and inaccessible places. The methodology was applied to three test fields in the historic centre of Venice, which include Piazza San Marco, Santa Marta area, and the Venetian canal called Rio de le Toresele. The STONEX® X120GO SLAM Laser Scanner is composed of a 360° rotating head LiDAR scanner, three 5MP cameras, and an Inertial Measurement Unit (IMU) and Global Navigation Satellite System (GNSS) for geospatial 3D point cloud creation. The MMS was evaluated in terms of time, accuracy, and point cloud resolution against other active sensors such as Terrestrial Laser Scanners (TLSs) and spherical photogrammetry. The results suggest that the tested MMS has reached optimal levels of development, enabling high-speed data collection and providing good accuracy for significant urban CH sites. Overall, the paper highlights the importance and potential of MMSs for CH documentation and emphasizes the need for ongoing development to optimize the management process.

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Section: Calle Larga S Martamentioning

confidence: 99%

Digitization Approaches for Urban Cultural Heritage: Last Generation MMS Within Venice Outdoor Scenarios

Martino,

Breggion,

Balletti

et al. 2023

Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci.

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“…Nowadays, mobile robots have been gradually and widely spreading to different fields, such as transportation, aerospace, home catering and so on [1]- [2]. With the development of modern industry, different types of robots such as welding, cleaning, logistics, collaboration, mobile operation and household have been developed [3], and SLAM technology is the necessary core technology for all mobile robots [4]- [5]. SLAM mobile robots have been used in structured scenarios like indoors.…”

Section: Introduction 11 Backgroundmentioning

confidence: 99%

An algorithm of simultaneous localization and mapping for mobile robots based on graph optimization

Wei,

Zheng,

Wei

et al. 2024

International Conference on Remote Sensing, Mapping, and Image Processing (RSMIP 2024)

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“…A visual odometer [21][22][23][24] can estimate the moving process of a moving carrier by image sequence and its algorithm is relatively mature and simple, but its accuracy is easily affected by image quality and environment. Lidar [25][26][27][28][29] is widely used in integrated navigation because it can detect on a large scale and obtain 3D information. However, it is subjected to environment and price.…”

Section: Introductionmentioning

confidence: 99%

An GNSS/INS Integrated Navigation Algorithm Based on PSO-LSTM in Satellite Rejection

et al. 2023

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When the satellite signal is lost or interfered with, the traditional GNSS (Global Navigation Satellite System)/INS (Inertial Navigation System) integrated navigation will degenerate into INS, which results in the decrease in navigation accuracy. To solve these problems, this paper mainly established the PSO (particle swarm optimization) -LSTM (Long Short-Term Memory) neural network model to predict the increment of GNSS position under the condition of satellite rejection and accumulation to obtain the pseudo-GNSS signal. The signal is used to compensate for the observed value in the integrated system. The model takes the advantages of LSTM, which is good at processing time series, and uses PSO to obtain the optimal value of important hyperparameters efficiently. Meanwhile, the improved threshold function is used to denoise the IMU (inertial measurement unit) data, which improves the SNR (signal-to-noise ratio) of IMU outputs effectively. Finally, the performance of the algorithm is proved by actual road test. Compared with INS, the method can reduce the maximum errors of latitude and longitude by at least 98.78% and 99.10% while the satellite is lost for 60 s, effectively improving the accuracy of the GNSS/INS system in satellite rejection.

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3D LiDAR Based SLAM System Evaluation with Low-Cost Real-Time Kinematics GPS Solution

Cited by 3 publications

References 28 publications

Digitization Approaches for Urban Cultural Heritage: Last Generation MMS Within Venice Outdoor Scenarios

Digitization Approaches for Urban Cultural Heritage: Last Generation MMS Within Venice Outdoor Scenarios

An algorithm of simultaneous localization and mapping for mobile robots based on graph optimization

An GNSS/INS Integrated Navigation Algorithm Based on PSO-LSTM in Satellite Rejection

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