Measurement Strategies for Street-Level SLAM Laser Scanning of Urban Environments

Aino Keitaanniemi, Antero Kukko, Juho-Pekka Virtanen, Matti Tapio Vaaja

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Data collection for street-level mapping is currently executed with terrestrial (TLS) or mobile laser scanners (MLS). However, these methods have disadvantages such as TLS requiring a lot of time and MLS being dependent on the global navigation satellite system (GNSS) and an inertial measurement unit (IMU). These are not problems if we use simultaneous localization and mapping (SLAM) based laser scanners. We studied the utility of a SLAM ZEB-REVO scanner for mapping street-level objects in an urban environment by analyzing the geometric and visual differences with a TLS reference. In addition to this, we examined the influence of traffic on the measurement strategy. The results of the study showed that SLAM-based laser scanners can be used for street-level mapping. However, the measurement strategy affects the point clouds. The strategy of walking trajectory in loops produced a 2 cm RMS and 4-6 mm mode of error even in not optimal situations of the sensor in the urban environment. However, it was possible to get an RMS under 2.2 cm and a 32 cm mode of error with other measurement strategies.
Original languageEnglish
Pages (from-to)1-19
Number of pages19
JournalPhotogrammetric Journal of Finland
Issue number1
Publication statusPublished - 2020
MoE publication typeA1 Journal article-refereed


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