Three-Dimensional Reconstruction of Enclosed Environments Based on Two-Dimensional LiDAR: Starting Point and Future Challenges

IF 1.3 4区工程技术 Q3 COMPUTER SCIENCE, INFORMATION SYSTEMS

IEEE Latin America Transactions Pub Date : 2024-08-01 DOI:10.1109/TLA.2024.10620414

Pablo Raul Yanyachi;Alfredo Mamani Saico;Flor Chacon;Miguel Esquivel;Juan Carlos Cutipa Luque;Daniel Yanyachi

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引用次数: 0

Abstract

Robotics and LiDAR technology stand as a crucial cornerstone for the development of cutting-edge three-dimensional mapping systems. This study represents a significant advancement by addressing the development of an initial approach for a three-dimensional mapping system, utilizing a unique LiDAR translational mechanism. In pursuit of this objective, a comprehensive review of works exclusively dedicated to mechanisms employing two-dimensional LiDAR has been conducted. This selective approach results in a comprehensive understanding of the mechanism used for three-dimensional reconstruction and lays the groundwork for future endeavors. Furthermore, a robotic prototype has been implemented using the Robot Operating System (ROS), serving as an accessible tool for implementing our initial approach and engaging new researchers from our university in the application of robotics for three-dimensional reconstruction through LiDAR technology. The validation of our study is conducted through tests in both open and closed environments, revealing high data resolution and a correlation of over 98% with the real environment. The study suggests further research based on the identified errors and introduces new challenges for developing robust prototypes capable of handling changes in a robot's attitude.

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基于二维激光雷达的封闭环境三维重建：起点与未来挑战

机器人技术和激光雷达技术是开发尖端三维测绘系统的重要基石。本研究利用独特的激光雷达平移机制，开发了三维测绘系统的初始方法，是一项重大进展。为了实现这一目标，我们对专门研究二维激光雷达机制的著作进行了全面回顾。通过这种选择性方法，我们对三维重建所使用的机制有了全面的了解，并为今后的工作奠定了基础。此外，我们还使用机器人操作系统（ROS）实现了一个机器人原型，作为实现我们初步方法的一个可访问工具，并让本校的新研究人员参与到通过激光雷达技术进行三维重建的机器人应用中来。我们的研究通过在开放和封闭环境中的测试进行了验证，结果显示数据分辨率高，与真实环境的相关性超过 98%。该研究建议根据已发现的误差开展进一步研究，并为开发能够处理机器人姿态变化的稳健原型提出了新的挑战。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

IEEE Latin America Transactions COMPUTER SCIENCE, INFORMATION SYSTEMS-ENGINEERING, ELECTRICAL & ELECTRONIC

CiteScore

3.50

自引率

7.70%

发文量

192

审稿时长

3-8 weeks

期刊介绍： IEEE Latin America Transactions (IEEE LATAM) is an interdisciplinary journal focused on the dissemination of original and quality research papers / review articles in Spanish and Portuguese of emerging topics in three main areas: Computing, Electric Energy and Electronics. Some of the sub-areas of the journal are, but not limited to: Automatic control, communications, instrumentation, artificial intelligence, power and industrial electronics, fault diagnosis and detection, transportation electrification, internet of things, electrical machines, circuits and systems, biomedicine and biomedical / haptic applications, secure communications, robotics, sensors and actuators, computer networks, smart grids, among others.