The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences
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Articles | Volume XLIII-B1-2020
Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci., XLIII-B1-2020, 527–534, 2020
https://doi.org/10.5194/isprs-archives-XLIII-B1-2020-527-2020
Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci., XLIII-B1-2020, 527–534, 2020
https://doi.org/10.5194/isprs-archives-XLIII-B1-2020-527-2020

  06 Aug 2020

06 Aug 2020

COMPARISON OF UAV LIDAR ODOMETRY OF ROTATING AND FIXED VELODYNE PLATFORMS

M. L. Tazir and N. Seube M. L. Tazir and N. Seube
  • Geown France, 13 avenue de l’Europe, 31520 Ramonville St-Agne, France

Keywords: LiDAR odometry, mapping, rotating Velodyne, UAV, spatial analysis, point clouds comparison

Abstract. Three-dimensional LiDAR rangefinders are increasingly integrated into unmanned aerial vehicles (UAV), due to their direct access to 3D information, their high accuracy and high refresh rate, and their tendency to be lightweight and cheaper. However, all commercial LiDARs can only offer a limited vertical resolution. To cope with this problem, a solution can be to rotate the LiDAR on an axis passing through its center, adding an additional degree of freedom and allowing more overlap, which significantly enlarges the sensor scope and allows having a complete spherical field of view (FOV). In this paper, we explore this solution in detail for drone’s context, while making comparisons between the rotating and fixed configurations for a Multi-Layers LiDAR (MLL) of type Velodyne Puck Lite. We investigate its impact on the LiDAR Odometry (LO) process by comparing the resulting trajectories with the data of the two configurations, as well as, qualitative comparisons, of the resulting maps.