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

doi:10.1016/j.autcon.2022.104700

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

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Abstrakti

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.

Alkuperäiskieli	Englanti
Artikkeli	104700
Julkaisu	Automation in Construction
Vuosikerta	147
DOI - pysyväislinkit	https://doi.org/10.1016/j.autcon.2022.104700
Tila	Julkaistu - maalisk. 2023
OKM-julkaisutyyppi	A1 Julkaistu artikkeli, soviteltu

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10.1016/j.autcon.2022.104700Lisenssi: CC BY

1-s2.0-S0926580522005702-mainFinal published version, 5,84 MBLisenssi: CC BY

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@Quality4Roads: Tien laadun mittaaminen
Vaaja, M. T., Keitaanniemi, A., Putkiranta, P. & Kurkela, M.
01/09/2019 → 31/08/2023
Projekti: Academy of Finland: Other research funding
Osaamispohjainen kasvu 3D-digitalisaation, robotiikan, paikkatiedon ja kuvankäsittelyn sekä -laskennan yhdistetyssä teknologiamurroksessa
Hyyppä, H., Julin, A., Aho, S., Ahlavuo, M., Handolin, H., Jaalama, K., El-Mahgary, S., Ingman, M., Kurkela, M., Sarlin, M., Luhtala, L., Maksimainen, M., Gullmets, H., Nuikka, M., Vaaja, M. T. & Siirala, H.
01/01/2018 → 31/07/2021
Projekti: Academy of Finland: Strategic research funding
COMBAT: Competence-Based Growth Through Integrated Disruptive Technologies of 3D Digitalization, Robotics, Geospatial Information and Image Processing/Computing - Point Cloud Ecosystem
Nieminen, J., Ahlavuo, M., Vaaja, M. T., Laitala, A., Julin, A., Hyyppä, H., Maksimainen, M., Lehtola, V., Ståhle, P., Haggren, H., Rantanen, T., Gullmets, H., Kauhanen, H., Ingman, M., Karvonen, S., Kurkela, M., Luhtala, L., Jaalama, K. & Virtanen, J.
01/05/2015 → 31/12/2017
Projekti: Academy of Finland: Strategic research funding

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Matti Kurkela (Manager)
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title = "Drift analysis and sectional post-processing of indoor simultaneous localization and mapping (SLAM)-based laser scanning data",

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.",

author = "Aino Keitaanniemi and Petri R{\"o}nnholm and Antero Kukko and Vaaja, {Matti Tapio}",

year = "2023",

month = mar,

doi = "10.1016/j.autcon.2022.104700",

language = "English",

volume = "147",

journal = "Automation in Construction",

issn = "0926-5805",

publisher = "Elsevier",

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T1 - Drift analysis and sectional post-processing of indoor simultaneous localization and mapping (SLAM)-based laser scanning data

AU - Keitaanniemi, Aino

AU - Rönnholm, Petri

AU - Kukko, Antero

AU - Vaaja, Matti Tapio

PY - 2023/3

Y1 - 2023/3

N2 - 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.

AB - 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.

U2 - 10.1016/j.autcon.2022.104700

DO - 10.1016/j.autcon.2022.104700

M3 - Article

VL - 147

JO - Automation in Construction

JF - Automation in Construction

SN - 0926-5805

M1 - 104700

ER -

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

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Projektit

@Quality4Roads: Tien laadun mittaaminen

Osaamispohjainen kasvu 3D-digitalisaation, robotiikan, paikkatiedon ja kuvankäsittelyn sekä -laskennan yhdistetyssä teknologiamurroksessa

COMBAT: Competence-Based Growth Through Integrated Disruptive Technologies of 3D Digitalization, Robotics, Geospatial Information and Image Processing/Computing - Point Cloud Ecosystem

Laitteet

3D-studio

i3 – Industry Innovation Infrastructure

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