RT Journal Article
T1 Analysis of 3D Scan Measurement Distribution with Application to a Multi-Beam Lidar on a Rotating Platform
A1 Morales-Rodríguez, Jesús
A1 Plaza Leiva, Victoria
A1 Mandow, Anthony
A1 Gómez-Ruiz, José Antonio
A1 Serón-Barba, Javier
A1 García-Cerezo, Alfonso José
K1 Telémetros
AB Multi-beam lidar (MBL) rangefinders are becoming increasingly compact, light,and accessible 3D sensors, but they offer limited vertical resolution and field of view. The addition of adegree-of-freedom to build a rotating multi-beam lidar (RMBL) has the potential to become acommon solution for affordable rapid full-3D high resolution scans. However, the overlapping ofmultiple-beams caused by rotation yields scanning patterns that are more complex than in rotatingsingle beam lidar (RSBL). In this paper, we propose a simulation-based methodology to analyze 3Dscanning patterns which is applied to investigate the scan measurement distribution produced bythe RMBL configuration. With this purpose, novel contributions include: (i) the adaption of a recentspherical reformulation of Ripley’s K function to assess 3D sensor data distribution on a hollow spheresimulation; (ii) a comparison, both qualitative and quantitative, between scan patterns produced by anideal RMBL based on a Velodyne VLP-16 (Puck) and those of other 3D scan alternatives (i.e., rotating2D lidar and MBL); and (iii) a new RMBL implementation consisting of a portable tilting platform forVLP-16 scanners, which is presented as a case study for measurement distribution analysis aswell as for the discussion of actual scans from representative environments. Results indicate thatdespite the particular sampling patterns given by a RMBL, its homogeneity even improves that of anequivalent RSBL
PB MDPI
YR 2018
FD 2018
LK https://hdl.handle.net/10630/28714
UL https://hdl.handle.net/10630/28714
LA eng
NO Morales, J.; Plaza-Leiva, V.; Mandow, A.; Gomez-Ruiz, J.A.; Serón, J.; García-Cerezo, A. Analysis of 3D Scan Measurement Distribution with Application to a Multi-Beam Lidar on a Rotating Platform. Sensors 2018, 18, 395.
NO Spanish project DPI2015-65186-R
DS RIUMA. Repositorio Institucional de la Universidad de Málaga
RD 15 abr 2026