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 Plus monthly

Global: Zendy Tools annual

Global: Zendy Tools monthly

Global: Zendy Free Plan

This paper presents a novel 3D mapping robot with an omnidirectionalfield-of-view (FoV) sensor suite composed of a non-repetitive LiDAR and anomnidirectional camera. Thanks to the non-repetitive scanning nature of theLiDAR, an automatic targetless co-calibration method is proposed tosimultaneously calibrate the intrinsic parameters for the omnidirectionalcamera and the extrinsic parameters for the camera and LiDAR, which is crucialfor the required step in bringing color and texture information to the pointclouds in surveying and mapping tasks. Comparisons and analyses are made totarget-based intrinsic calibration and mutual information (MI)-based extrinsiccalibration, respectively. With this co-calibrated sensor suite, the hybridmapping robot integrates both the odometry-based mapping mode and stationarymapping mode. Meanwhile, we proposed a new workflow to achieve coarse-to-finemapping, including efficient and coarse mapping in a global environment withodometry-based mapping mode; planning for viewpoints in the region-of-interest(ROI) based on the coarse map (relies on the previous work); navigating to eachviewpoint and performing finer and more precise stationary scanning and mappingof the ROI. The fine map is stitched with the global coarse map, which providesa more efficient and precise result than the conventional stationary approachesand the emerging odometry-based approaches, respectively.

Coarse-to-fine Hybrid 3D Mapping System with Co-calibrated Omnidirectional Camera and Non-repetitive LiDAR