The problem of constructing high quality point clouds based on measurements from a moving and rotating single-photon counting lidar is considered in this report. The movement is along a straight rail while the lidar sensor rotates side to side. The point clouds are constructed in three steps, which are all studied in this master’s thesis. First, point clouds are constructed from raw lidar measurements from single sweeps with the lidar. In the second step, the sensor transformation between the point clouds constructed in the first step are obtained in a registration step using iterative closest point (ICP). In the third step the point clouds are combined to a coherent point cloud, using the full measurement. A method using simultaneous localization and mapping (SLAM) is developed for the third step. It is then compared to two other methods, constructing the final point cloud only using the registration, and to utilize odometric information in the combination step. It is also investigated which voxel discretization that should be used when extracting the point clouds. The methods developed are evaluated using experimental data from a prototype photon counting lidar system. The results show that the voxel discretization need to be at least as large as the range quantization in the lidar. No significant difference between using registration and SLAM in the third step is observed, but both methods outperform the odometric method.
| Identifer | oai:union.ndltd.org:UPSALLA1/oai:DiVA.org:liu-153297 |
| Date | January 2018 |
| Creators | Ekström, Joakim |
| Publisher | Linköpings universitet, Reglerteknik |
| Source Sets | DiVA Archive at Upsalla University |
| Language | English |
| Detected Language | English |
| Type | Student thesis, info:eu-repo/semantics/bachelorThesis, text |
| Format | application/pdf |
| Rights | info:eu-repo/semantics/openAccess |
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