Laser_RobMap: An open source ROS2 compatible tool for 3D mapping using a Mobile Robot and 2D LiDAR

Laser_RobMap: An open source ROS2 compatible tool for 3D mapping using a Mobile Robot and 2D LiDAR

We propose a tool for implementing a low-cost 3D mapping system using a vertically mounted 2D LiDAR sensor on a mobile robot, compatible with ROS2. The tool adapts to any ROS2-enabled robot that provides inertial and odometry data, with configurable parameters to optimize performance on systems with...

Full description

Saved in:
Bibliographic Details
Main Authors: Daniel D. Yanyachi, Yamir H. Anco-Agüero, German A. Echaiz, Miguel A. Esquivel, Alfredo Mamani-Saico, Pablo R. Yanyachi
Format: Article
Language:English
Published: Elsevier 2025-05-01
Series:SoftwareX
Subjects:
Mobile robot
3D mapping
LiDAR
Robot operating system
Real-time processing
Online Access:http://www.sciencedirect.com/science/article/pii/S2352711025001098
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:We propose a tool for implementing a low-cost 3D mapping system using a vertically mounted 2D LiDAR sensor on a mobile robot, compatible with ROS2. The tool adapts to any ROS2-enabled robot that provides inertial and odometry data, with configurable parameters to optimize performance on systems with limited computational resources. Its main objective is to deliver a cost-effective 3D mapping solution for autonomous navigation using 3D SLAM. The results can be exported as 3D point clouds in PCD, LAS, and PLY formats, with an optional voxelization feature for efficient data management.
ISSN:2352-7110

Similar Items