Scholarly record

AUTOMATIC POSITIONING OF MOBILE 3D LASER SCANNERS EQUIPPED WITH WIRELESS INTERFACES FOR AUTOMATIC MAP MERGING

Doğan Savran

Abstract

One of the most important issues in the problem of fusing partial maps without common reference frames into one large global map is requirement of manually obtaining the locations of mobile 3D laser scanners that are used to scan the environment. In this paper, we propose a novel positioning approach to obtain the locations of 3D laser scanners. The main limitation of our approach is that 3D laser scanners must be equipped with long-range wireless interfaces or off-the-shelf long-range wireless interfaces must be installed on them. Via references points (anchor nodes) on the corners of the environments, we use the measured distances and find the locations of the 3D laser scanners through multilateration technique. Although the approach proposed in this study is much easier to implement and much more cost-effective compared to the existing approaches, it is well-known that there are many challenges in real world scenarios that cannot be included in simulation environments and these challenges have impacts on the success of positioning algorithms. Therefore, the future work of this study consists of field tests using a set of 3D laser scanners and a group of anchor nodes so that the positioning accuracy of the proposed approach can be verified.

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