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Geoscientific Instrumentation, Methods and Data Systems An interactive open-access journal of the European Geosciences Union
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Preprints
https://doi.org/10.5194/gi-2020-3
© Author(s) 2020. This work is distributed under
the Creative Commons Attribution 4.0 License.
https://doi.org/10.5194/gi-2020-3
© Author(s) 2020. This work is distributed under
the Creative Commons Attribution 4.0 License.

Submitted as: research article 04 Mar 2020

Submitted as: research article | 04 Mar 2020

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This preprint is currently under review for the journal GI.

Dense point cloud acquisition with a low-cost Velodyne VLP-16

Jason Bula1, Marc-Henri Derron2, and Grégoire Mariéthoz1 Jason Bula et al.
  • 1University of Lausanne, Institute of Earth Surface Dynamics, Lausanne, Switzerland
  • 2University of Lausanne, Institute of Earth Sciences, Lausanne, Switzerland

Abstract. This study develops a method to acquire dense point clouds with a low-cost Velodyne VLP-16 lidar system, without using expensive GNSS positioning or IMU. Our setting consists in mounting the lidar on a motor to continuously change the scan direction, which leads to a significant increase in the point cloud density. A post-treatment reconstructs the position of each point accounting for the motor angle at the time of acquisition, and a calibration step accounts for inaccuracies in the hardware assemblage. The system is tested in indoors settings such as buildings and abandoned mines, but is also expected to give good results outdoors. It is also compared with a more expensive system based on IMU registration and a SLAM algorithm. The alignment between acquisitions with those two systems is within a distance of 2 cm.

Jason Bula et al.

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Status: final response (author comments only)
Status: final response (author comments only)
AC: Author comment | RC: Referee comment | SC: Short comment | EC: Editor comment

Jason Bula et al.

Jason Bula et al.

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Latest update: 24 May 2020
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Short summary
We developped a method to acquire dense point clouds with a low-cost Velodyne Puck lidar system, without using expensive GNSS positioning or IMU. Our setting consists in mounting the lidar on a motor to continuously change the scan direction, which leads to a significant increase in the point cloud density. The system was compared with a more expensive system based on IMU registration and a SLAM algorithm. The alignment between acquisitions with those two systems is within a distance of 2 cm.
We developped a method to acquire dense point clouds with a low-cost Velodyne Puck lidar system,...
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