University of Twente Student Theses


Simulation-Based Review of Selected LiDAR System Designs for Mobile Mapping

Patel, Vishakha (2022) Simulation-Based Review of Selected LiDAR System Designs for Mobile Mapping.

[img] PDF
Abstract:Mobile mapping is a way of obtaining accurate 3D maps of environments in a short time. A mobile mapping system is essentially a perception system consisting of LiDARs for obtaining geometrically accurate data with optional cameras and other sensors for auxiliary functions. When considering LiDARs, their composition and orientation influences the quality of data received. The configuration and number of LiDARs employed in the current mobile systems are driven by designer experience, understanding and requirements. So far, for a small mobile platforms such as an unmanned aerial vehicle (UAV), the systems have been limited to single-LiDAR configurations. This study investigates the benefits of using multiple LiDAR in a (UAV-mounted) mobile platform. The study draws inspiration from two sources, as follows. First, mapping of indoor environments sets high requirements. There has been a step up from the single-sensor push-broom like data capture, to the fan-style LiDAR which captures in 3D. But to increase visibility and accuracy, the next step is for multi-LiDAR systems. Second, the advancement in the LiDAR technology (such as single photon LiDAR, flash LiDAR) has led to a reduction in weight, cost and power consumption of these devices, enabling new system design possibilities. It makes sense to use simulations to assess potentially useful systems. Here, ROS simulations are used, because that is a \textit{de-facto} standard for robotics research and development. Well-motivated LiDAR configurations inspired from state-of-the-art mobile platforms are selected and simulated in different environments. The point cloud obtained are assessed against the designed evaluation metric. The evaluation is based on coverage, homogeneity and normalized density of the point cloud. Depending on the quantity of LiDARs employed, the configurations have been classified into three tiers. While examining the outcomes, certain tendencies become apparent. The point cloud's quality is directly influenced by the LiDAR system's range and direction. For different environment uses, optimal or possibly improved designs are recommended within each Tier. The designed evaluation metric serves as a suitable starting point for developing new combinations. And an important trade-off between scanning more thoroughly and flying farther is comprehended. This trade-off is crucial in defining the configuration's design and feasibility.
Item Type:Essay (Master)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Subject:50 technical science in general
Programme:Systems and Control MSc (60359)
Link to this item:
Export this item as:BibTeX
HTML Citation
Reference Manager


Repository Staff Only: item control page