Three-Dimensional Environment Mapping with a Rotary-Driven Lidar in Real Time
Three-dimensional environment reconstruction refers to the creation of mathematical models of three-dimensional objects suitable for computer representation and processing. This paper proposes a novel 3D environment reconstruction approach that addresses the field-of-view limitations commonly faced...
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MDPI AG
2025-08-01
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| author | Baixin Tong Fangdi Jiang Bo Lu Zhiqiang Gu Yan Li Shifeng Wang |
| author_facet | Baixin Tong Fangdi Jiang Bo Lu Zhiqiang Gu Yan Li Shifeng Wang |
| author_sort | Baixin Tong |
| collection | DOAJ |
| description | Three-dimensional environment reconstruction refers to the creation of mathematical models of three-dimensional objects suitable for computer representation and processing. This paper proposes a novel 3D environment reconstruction approach that addresses the field-of-view limitations commonly faced by LiDAR-based systems. A rotary-driven LiDAR mechanism is designed to enable uniform and seamless full-field-of-view scanning, thereby overcoming blind spots in traditional setups. To complement the hardware, a multi-sensor fusion framework—LV-SLAM (LiDAR-Visual Simultaneous Localization and Mapping)—is introduced. The framework consists of two key modules: multi-threaded feature registration and a two-phase loop closure detection mechanism, both designed to enhance the system’s accuracy and robustness. Extensive experiments on the KITTI benchmark demonstrate that LV-SLAM outperforms state-of-the-art methods including LOAM, LeGO-LOAM, and FAST-LIO2. Our method reduces the average absolute trajectory error (ATE) from 6.90 m (LOAM) to 2.48 m, and achieves lower relative pose error (RPE), indicating improved global consistency and reduced drift. We further validate the system in real-world indoor and outdoor environments. Compared with fixed-angle scans, the rotary LiDAR mechanism produces more complete reconstructions with fewer occlusions. Geometric accuracy evaluation shows that the root mean square error between reconstructed and actual building dimensions remains below 5 cm. The proposed system offers a robust and accurate solution for high-fidelity 3D reconstruction, particularly suitable for GNSS-denied and structurally complex environments. |
| format | Article |
| id | doaj-art-8fb19269cd3944f79b935a398ce01e5b |
| institution | Kabale University |
| issn | 1424-8220 |
| language | English |
| publishDate | 2025-08-01 |
| publisher | MDPI AG |
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| spelling | doaj-art-8fb19269cd3944f79b935a398ce01e5b2025-08-20T03:36:26ZengMDPI AGSensors1424-82202025-08-012515487010.3390/s25154870Three-Dimensional Environment Mapping with a Rotary-Driven Lidar in Real TimeBaixin Tong0Fangdi Jiang1Bo Lu2Zhiqiang Gu3Yan Li4Shifeng Wang5School of Optoelectronic Engineering, Changchun University of Science and Technology, Changchun 130022, ChinaSchool of Optoelectronic Engineering, Changchun University of Science and Technology, Changchun 130022, ChinaZhongshan Institute of Changchun University of Science and Technology, Zhongshan 528400, ChinaSchool of Optoelectronic Engineering, Changchun University of Science and Technology, Changchun 130022, ChinaFaculty of Computing, Macquarie University, Sydney 2109, AustraliaZhongshan Institute of Changchun University of Science and Technology, Zhongshan 528400, ChinaThree-dimensional environment reconstruction refers to the creation of mathematical models of three-dimensional objects suitable for computer representation and processing. This paper proposes a novel 3D environment reconstruction approach that addresses the field-of-view limitations commonly faced by LiDAR-based systems. A rotary-driven LiDAR mechanism is designed to enable uniform and seamless full-field-of-view scanning, thereby overcoming blind spots in traditional setups. To complement the hardware, a multi-sensor fusion framework—LV-SLAM (LiDAR-Visual Simultaneous Localization and Mapping)—is introduced. The framework consists of two key modules: multi-threaded feature registration and a two-phase loop closure detection mechanism, both designed to enhance the system’s accuracy and robustness. Extensive experiments on the KITTI benchmark demonstrate that LV-SLAM outperforms state-of-the-art methods including LOAM, LeGO-LOAM, and FAST-LIO2. Our method reduces the average absolute trajectory error (ATE) from 6.90 m (LOAM) to 2.48 m, and achieves lower relative pose error (RPE), indicating improved global consistency and reduced drift. We further validate the system in real-world indoor and outdoor environments. Compared with fixed-angle scans, the rotary LiDAR mechanism produces more complete reconstructions with fewer occlusions. Geometric accuracy evaluation shows that the root mean square error between reconstructed and actual building dimensions remains below 5 cm. The proposed system offers a robust and accurate solution for high-fidelity 3D reconstruction, particularly suitable for GNSS-denied and structurally complex environments.https://www.mdpi.com/1424-8220/25/15/4870simultaneous localization and mappingmulti-sensor fusionpoint cloudloop closure detection |
| spellingShingle | Baixin Tong Fangdi Jiang Bo Lu Zhiqiang Gu Yan Li Shifeng Wang Three-Dimensional Environment Mapping with a Rotary-Driven Lidar in Real Time Sensors simultaneous localization and mapping multi-sensor fusion point cloud loop closure detection |
| title | Three-Dimensional Environment Mapping with a Rotary-Driven Lidar in Real Time |
| title_full | Three-Dimensional Environment Mapping with a Rotary-Driven Lidar in Real Time |
| title_fullStr | Three-Dimensional Environment Mapping with a Rotary-Driven Lidar in Real Time |
| title_full_unstemmed | Three-Dimensional Environment Mapping with a Rotary-Driven Lidar in Real Time |
| title_short | Three-Dimensional Environment Mapping with a Rotary-Driven Lidar in Real Time |
| title_sort | three dimensional environment mapping with a rotary driven lidar in real time |
| topic | simultaneous localization and mapping multi-sensor fusion point cloud loop closure detection |
| url | https://www.mdpi.com/1424-8220/25/15/4870 |
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