Prototyping of an indoor mobile mapping system

Abstract

The paper deals with prototyping a kinematic measurement system for digitizing indoor environments of buildings. The scanning system itself consists of several sensors for localization (inertial measurement unit, rotary encoders and a stereo camera), while its main part is a Velodyne lidar. The procedure of data processing is performed by an algorithm for simultaneous localization and mapping (SLAM). The paper describes the hardware of the measurement system. Part of the contribution is the proposal of a series of tests evaluating the quality of the prototype of the mobile mapping system. The tests verify the accuracy of length measurement, the accuracy of the determination of the inclination of the measuring system, and the accuracy of the lidar position determination.