Application of laser SLAM technology in backpack indoor mobile measurement system

Abstract

In the mobile measurement system, real-time acquisition of the precise pose of the carrier platform is the key to map construction. At present, the pose in outdoor mobile measurement is generally obtained by GNSS/INS combination technology. However, GNSS/INS combination technology is not suitable for the indoor scenes, and the simultaneous localization and mapping (SLAM) technology in the robot field can obtain high-precision pose by the combination of laser scanner and INS. Therefore, this paper proposes to apply laser SLAM technology to indoor mobile measurement systems. This paper designs a backpack-type mobile measurement system based on SLAM technology to measure the indoor scenes. The experimental results show that the indoor mobile measurement system combined with SLAM technology can obtain high-precision pose information and 3D integrated point cloud with indoor precision of 5-6 cm.