Instantaneous 3D Mapping Method Based on Mobile LiDAR

An instantaneous three-dimensional mapping method was presented for mobile LiDAR. This method has been applied to indoor, outdoor and other environments. As the new intelligent method of digital photogrammetry based on machine vision, it solved the basic problem of self-localization and simultaneous mapping of mobile LiDAR without GPS and high precision IMU. As results, the differences between the method and the traditional method were analyzed; the self-calibration method of bore-sight angle errors were studied; Effective feature extraction algorithm by planeness and incremental mapping strategy were proposed; and an optimal adjustment algorithm was modeled. Finally, the method was testified by three different environmental mapping experiments. The results show that the method is applicable in many kinds of environments, no matter of structured or unstructured environments, indoor, outdoor or woodland, and horizontal mapping or vertical mapping. Requiring no data post-processing, the method can do instantaneous mapping.