Drift analysis and sectional post-processing of indoor simultaneous localization and mapping (SLAM)-based laser scanning data

Aino Keitaanniemi*, Petri Rönnholm, Antero Kukko, Matti Tapio Vaaja

*Corresponding author for this work

Research output: Contribution to journalArticleScientificpeer-review

3 Citations (Scopus)
123 Downloads (Pure)

Abstract

Even though the SLAM laser scanners (LSs) have the required resolution for construction analysis, a drift error has been detected in georeferencing phase of the data processing. The reduction of drift error in SLAM LSs with third-party software has not been studied. This paper demonstrates the drift error behavior of commercial SLAM LSs and their correction with sectional post-processing methods, and shows that the drift error is mainly in a vertical direction, and it is largest in the middle of the trajectory. The drift error was reduced from 10.6 cm to 0.2 cm. Circa 30 s length sections have better results than larger sections with non-rigid transformation algorithm. The method has shown potential to improve the quality and cost-effectiveness of multitemporal construction documentation. In addition, locations of additional control points were analyzed to prevent drift error, with adjustments to the walking path.
Original languageEnglish
Article number104700
JournalAutomation in Construction
Volume147
DOIs
Publication statusPublished - Mar 2023
MoE publication typeA1 Journal article-refereed

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