The preliminary findings from tests of a mobile mapping system

Abstract

The paper is focused on describing the prototype of a mobile mapping system and presenting the preliminary findings from tests of its components. The mobile mapping system consists of a combination of several components, including three 2D lidars, a 3D lidar, an inertial measurement unit, a stereo camera, and rotary encoders. The paper describes the planned tests of each component and the entire mobile mapping system. The results from lidar and rotary encoder testing are presented. Differences in measured distance were calculated for lidars, based on which they were compared to each other. Testing of rotary encoders was conducted to determine the conversion constant of measured increments from rotary encoders to metric units, followed by the determination of their accuracy.