Kinematic 3D laser scanning of building interior using SLAM technique

Jaehoon Jung, Sungchul Hong, Joon Heo

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Monitoring as-built condition of existing building is required for efficient building operation and maintenance. To acquire the as-built data, terrestrial laser scanner has been widely used due to its fast speed and accuracy. However, conventional static laser scanning system has some restrictions of its operability for complex indoor environments because surveyors need to change scanner locations and register each scanned point cloud into a single data set in the post processing step. As an alternative, this study proposed a kinematic laser scanning system which continuously scans and registers the point cloud data using Simultaneous localization and mapping (SLAM) technique. The system was developed with two 2D laser range finders, and the experimental result showed the potential for mapping 3D indoor environment.

Original languageEnglish
Title of host publication34th Asian Conference on Remote Sensing 2013, ACRS 2013
PublisherAsian Association on Remote Sensing
Pages4557-4559
Number of pages3
ISBN (Print)9781629939100
Publication statusPublished - 2013 Jan 1
Event34th Asian Conference on Remote Sensing 2013, ACRS 2013 - Bali, Indonesia
Duration: 2013 Oct 202013 Oct 24

Publication series

Name34th Asian Conference on Remote Sensing 2013, ACRS 2013
Volume5

Other

Other34th Asian Conference on Remote Sensing 2013, ACRS 2013
CountryIndonesia
CityBali
Period13/10/2013/10/24

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All Science Journal Classification (ASJC) codes

  • Computer Networks and Communications

Cite this

Jung, J., Hong, S., & Heo, J. (2013). Kinematic 3D laser scanning of building interior using SLAM technique. In 34th Asian Conference on Remote Sensing 2013, ACRS 2013 (pp. 4557-4559). (34th Asian Conference on Remote Sensing 2013, ACRS 2013; Vol. 5). Asian Association on Remote Sensing.