Slum Terrain Mapping Using Low-Cost 2D Laser Scanners

IF 0.9 4区工程技术 Q4 ENGINEERING, ELECTRICAL & ELECTRONIC

Elektronika Ir Elektrotechnika Pub Date : 2023-04-24 DOI:10.5755/j02.eie.33884

S. R. U. N. Jafri, Tariq Rehman, Asif Ahmed, Muhammad Shahzad Siddiqi, Asad Hayat, Tehniyat Saeed

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引用次数: 0

Abstract

This paper presents a motorbike-based custom made scanning and mapping system for surveying slums and highly populated urban regions. These vicinities are difficult to reach through standard vehicular scanning systems and require a compact solution as presented in this paper. The system consists of two small range 2D Hokuyo laser scanners mounted in right angle orientations to capture the environment. In addition, the global positioning system, the wheel encoder, the inertial measurement unit, and cameras have been integrated with the system to estimate the pose and visual information. Sensorial information has been used to localise the system using Kalman Filtering. Later, by applying the standard transformations, the 3D point cloud map of the surveyed vicinity has been developed. The scanning system has been tested at various locations including densely populated and slum regions. Precise and detailed 3D mapping results have been obtained, which are further extensively analysed to understand the built structure and the road furniture. The working of the system is found to be quite economical and faster than that of local urban surveying systems.

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使用低成本2D激光扫描仪绘制贫民窟地形图

本文提出了一种基于摩托车的定制扫描和测绘系统，用于调查贫民窟和人口密集的城市地区。通过标准的车辆扫描系统很难到达这些区域，因此需要本文提出的紧凑解决方案。该系统由两个小范围2D Hokuyo激光扫描仪组成，安装在直角方向以捕获环境。此外，该系统还集成了全球定位系统、车轮编码器、惯性测量单元和相机，以估计姿态和视觉信息。利用卡尔曼滤波，利用感官信息对系统进行定位。然后，应用标准变换，得到了被测区域的三维点云图。该扫描系统已在包括人口稠密地区和贫民窟在内的多个地点进行了测试。获得了精确和详细的3D测绘结果，并对其进行了进一步的分析，以了解建筑结构和道路设施。结果表明，该系统的工作比当地的城市测量系统更经济、更快捷。

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

Elektronika Ir Elektrotechnika 工程技术-工程：电子与电气

CiteScore

2.40

自引率

7.70%

发文量

审稿时长

24 months

期刊介绍： The journal aims to attract original research papers on featuring practical developments in the field of electronics and electrical engineering. The journal seeks to publish research progress in the field of electronics and electrical engineering with an emphasis on the applied rather than the theoretical in as much detail as possible. The journal publishes regular papers dealing with the following areas, but not limited to: Electronics; Electronic Measurements; Signal Technology; Microelectronics; High Frequency Technology, Microwaves. Electrical Engineering; Renewable Energy; Automation, Robotics; Telecommunications Engineering.