文章基本信息

标题：Performance Investigation and Repeatability Assessment of a Mobile Robotic System for 3D Mapping
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作者：Eleonora Maset ; Lorenzo Scalera ; Alberto Beinat 等
期刊名称：Robotics
电子版ISSN：2218-6581
出版年度：2022
卷号：11
期号：3
页码：54
DOI：10.3390/robotics11030054
语种：English
出版社：MDPI Publishing
摘要：In this paper, we present a quantitative performance investigation and repeatability assessment of a mobile robotic system for 3D mapping. With the aim of a more efficient and automatic data acquisition process with respect to well-established manual topographic operations, a 3D laser scanner coupled with an inertial measurement unit is installed on a mobile platform and used to perform a high-resolution mapping of the surrounding environment. Point clouds obtained with the use of a mobile robot are compared with those acquired with the device carried manually as well as with a terrestrial laser scanner survey that serves as a ground truth. Experimental results show that both mapping modes provide similar accuracy and repeatability, whereas the robotic system compares favorably with respect to the handheld modality in terms of noise level and point distribution. The outcomes demonstrate the feasibility of the mobile robotic platform as a promising technology for automatic and accurate 3D mapping.