Slum Terrain Mapping Using Low-Cost 2D Laser Scanners
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...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Kaunas University of Technology
2023-04-01
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| Series: | Elektronika ir Elektrotechnika |
| Subjects: | |
| Online Access: | https://eejournal.ktu.lt/index.php/elt/article/view/33884 |
| _version_ | 1797799457249558528 |
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| author | Syed Riaz un Nabi Jafri Tariq Rehman Asif Ahmed Muhammad Shahzad Siddiqi Asad Hayat Tehniyat Saeed |
| author_facet | Syed Riaz un Nabi Jafri Tariq Rehman Asif Ahmed Muhammad Shahzad Siddiqi Asad Hayat Tehniyat Saeed |
| author_sort | Syed Riaz un Nabi Jafri |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-03-13T04:20:10Z |
| format | Article |
| id | doaj.art-d85baafb6fda4d8cacb8e5b470abd8db |
| institution | Directory Open Access Journal |
| issn | 1392-1215 2029-5731 |
| language | English |
| last_indexed | 2024-03-13T04:20:10Z |
| publishDate | 2023-04-01 |
| publisher | Kaunas University of Technology |
| record_format | Article |
| series | Elektronika ir Elektrotechnika |
| spelling | doaj.art-d85baafb6fda4d8cacb8e5b470abd8db2023-06-20T13:14:00ZengKaunas University of TechnologyElektronika ir Elektrotechnika1392-12152029-57312023-04-01292192710.5755/j02.eie.3388439138Slum Terrain Mapping Using Low-Cost 2D Laser ScannersSyed Riaz un Nabi Jafri0Tariq Rehman1Asif Ahmed2Muhammad Shahzad Siddiqi3Asad Hayat4Tehniyat Saeed5Department of Electronic Engineering, NED University of Engineering and Technology, PakistanDepartment of Electronic Engineering, NED University of Engineering and Technology, PakistanDepartment of Electronic Engineering, NED University of Engineering and Technology, PakistanDepartment of Electronic Engineering, NED University of Engineering and Technology, PakistanDepartment of Electronic Engineering, NED University of Engineering and Technology, PakistanDepartment of Electronic Engineering, NED University of Engineering and Technology, PakistanThis 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.https://eejournal.ktu.lt/index.php/elt/article/view/33884simultaneous localization and mappingimu3d point cloud2d laser scannergps |
| spellingShingle | Syed Riaz un Nabi Jafri Tariq Rehman Asif Ahmed Muhammad Shahzad Siddiqi Asad Hayat Tehniyat Saeed Slum Terrain Mapping Using Low-Cost 2D Laser Scanners Elektronika ir Elektrotechnika simultaneous localization and mapping imu 3d point cloud 2d laser scanner gps |
| title | Slum Terrain Mapping Using Low-Cost 2D Laser Scanners |
| title_full | Slum Terrain Mapping Using Low-Cost 2D Laser Scanners |
| title_fullStr | Slum Terrain Mapping Using Low-Cost 2D Laser Scanners |
| title_full_unstemmed | Slum Terrain Mapping Using Low-Cost 2D Laser Scanners |
| title_short | Slum Terrain Mapping Using Low-Cost 2D Laser Scanners |
| title_sort | slum terrain mapping using low cost 2d laser scanners |
| topic | simultaneous localization and mapping imu 3d point cloud 2d laser scanner gps |
| url | https://eejournal.ktu.lt/index.php/elt/article/view/33884 |
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