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

This paper describes an affordable robotic mobile 3D mapping system. It is built with Livox Mid-40 lidar with a conic field of view extended by a custom rotating planar reflector. This 3D sensor is compared with the more expensive Velodyne VLP 16 lidar. It is shown that the proposed sensor reaches s...

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Bibliographic Details
Published in:Sensors (Basel, Switzerland) Switzerland), 2023-01, Vol.23 (3), p.1551
Main Authors: Bedkowski, Janusz, Pelka, Michal
Format: Article
Language:English
Subjects:
3D mapping
automatic calibration
Calibration
Digital mapping
Mapping
Methods
Mirrors
Mobile robots
Nuclear power plants
Optical radar
Optimization
reshape field of view
robotic mapping
Robots
Rotation
Sensors
SLAM
solid-state lidar
Synchronism
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Summary:This paper describes an affordable robotic mobile 3D mapping system. It is built with Livox Mid-40 lidar with a conic field of view extended by a custom rotating planar reflector. This 3D sensor is compared with the more expensive Velodyne VLP 16 lidar. It is shown that the proposed sensor reaches satisfactory accuracy and range. Furthermore, it is able to preserve the metric accuracy and non-repetitive scanning pattern of the unmodified sensor. Due to preserving the non-repetitive scan pattern, our system is capable of covering the entire field of view of 38.4 × 360 degrees, which is an added value of conducted research. We show the calibration method, mechanical design, and synchronization details that are necessary to replicate our system. This work extends the applicability of solid-state lidars since the field of view can be reshaped with minimal loss of measurement properties. The solution was part of a system that was evaluated during the 3rd European Robotics Hackathon in the Zwentendorf Nuclear Power Plant. The experimental part of the paper demonstrates that our affordable robotic mobile 3D mapping system is capable of providing 3D maps of a nuclear facility that are comparable to the more expensive solution.
ISSN:1424-8220
1424-8220
DOI:10.3390/s23031551