English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Tools annual

Global: Zendy Free Plan

Global: Zendy Tools monthly

Global: Zendy Plus monthly

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 a degree-of-freedom to build a rotating multi-beam lidar (RMBL) has the potential to become a common solution for affordable rapid full-3D high resolution scans. However, the overlapping of multiple-beams caused by rotation yields scanning patterns that are more complex than in rotating single beam lidar (RSBL). In this paper, we propose a simulation-based methodology to analyze 3D scanning patterns which is applied to investigate the scan measurement distribution produced by the RMBL configuration. With this purpose, novel contributions include: (i) the adaption of a recent spherical reformulation of Ripley's K function to assess 3D sensor data distribution on a hollow sphere simulation; (ii) a comparison, both qualitative and quantitative, between scan patterns produced by an ideal RMBL based on a Velodyne VLP-16 (Puck) and those of other 3D scan alternatives (i.e., rotating 2D lidar and MBL); and (iii) a new RMBL implementation consisting of a portable tilting platform for VLP-16 scanners, which is presented as a case study for measurement distribution analysis as well as for the discussion of actual scans from representative environments. Results indicate that despite the particular sampling patterns given by a RMBL, its homogeneity even improves that of an equivalent RSBL.

Analysis of 3D Scan Measurement Distribution with Application to a Multi-Beam Lidar on a Rotating Platform