Paper Info
Title
Behavior Analysis of Novel Wearable Indoor Mapping System Based on 3D-SLAM.
Abstract
This paper presents a Wearable Prototype for indoor mapping developed by the University of Vigo. The system is based on a Velodyne LiDAR, acquiring points with 16 rays for a simplistic or low-density 3D representation of reality. With this, a Simultaneous Localization and Mapping (3D-SLAM) method is developed for the mapping and generation of 3D point clouds of scenarios deprived from GNSS signal. The quality of the system presented is validated through the comparison with a commercial indoor mapping system, Zeb-Revo, from the company GeoSLAM and with a terrestrial LiDAR, Faro Focus(3D) X330. The first is considered as a relative reference with other mobile systems and is chosen due to its use of the same principle for mapping: SLAM techniques based on Robot Operating System (ROS), while the second is taken as ground-truth for the determination of the final accuracy of the system regarding reality. Results show that the accuracy of the system is mainly determined by the accuracy of the sensor, with little increment in the error introduced by the mapping algorithm.
Year
DOI
Venue
2018
10.3390/s18030766
SENSORS
Keywords
Field
DocType
wearable mapping prototype,SLAM,indoor mapping,LiDAR,accuracy analysis
Wearable computer,Real-time computing,Electronic engineering,Lidar,GNSS applications,Engineering,Mapping algorithm,Point cloud,Simultaneous localization and mapping,Robot operating system
Journal
Volume
Issue
Citations 
18
3.0
2
PageRank 
References 
Authors
0.43
9
6
Name
Order
Citations
PageRank
Susana Lagüela1115.33
Iago Dorado220.43
Manuel Gesto320.43
Pedro Arias4267.12
Diego González-Aguilera58119.41
Henrique Lorenzo6152.37