Low Cost Backpack Scanning and Mapping System for Indoor Environments

摘要

This paper presents a solution to generate 3D point cloud of built structures using customized back pack laser scanning system. A combination of 2D Hokuyo laser scanners has been used on the backpack to generate 3D point cloud of the surveyed surrounding. The data recording of all scanners and simultaneous localization and mapping (SLAM) of backpack have been performed through Robot Operating System (ROS). Various indoor environments have been scanned and 3D point clouds have been established which have been found accurate when matched to actual map. When compared to available surveying solutions present in the local market, the established system has been found more precise, faster and user friendly to develop suitable results of surveyed areas on affordable rates.