Creation of a 3D model using RPLidar A1 and Velodyne Puck VLP-16

Abstract The paper focuses on the creation of 3D models of indoor building environments. The data for model creation is acquired using a developed mobile mapping system, which consists of a combination of various sensors. It includes a trio of 2D and 3D light detection and ranging unit, an inertial measurement unit, a stereo camera, and rotary encoders. The collected data is processed using simultaneous localization and mapping through a graph-based approach. The quality of the created 3D model is numerically quantified. The first part of the paper describes the developed mobile mapping system, which comprises three subsystems. The next section explains the processing of the collected data using simultaneous localization and mapping. The quality of the created 3D model is subsequently analyzed. The final section evaluates the results and outlines future objectives of the research.