Assessment of Slam Lidar - An Accuracy Assessment and Drift Anaylsis of the Leica BLK2GO
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Authors
Kelly, Carter R.
Mao, Ocean Z.
Gramlich, Victoria A.
Kirkpatrick, Ryan W.
Issue Date
2024-07-07
Type
proceedings-article
Language
Keywords
Visualization , Accuracy , Simultaneous localization and mapping , Laser radar , Three-dimensional displays , Systematics , Instruments , Lidar , Leica BLK2GO , SLAM , Accuracy Assessment , Drift Analysis
Alternative Title
Abstract
Mobile mapping projects demand careful consideration of instrument selection, which in turn requires that decision makers understand the strengths and weaknesses of the equipment at their disposal. This study focuses on the Leica BLK2GO, a handheld imaging and laser scanner equipped with visual and lidar simultaneous localization and mapping (SLAM). The absolute 3D accuracy, distance measurement stability over a collection period, and the scanner’s ability to track indoor positions are assessed and quantified. Results show that the BLK2GO exhibits accuracy meeting or exceeding manufacturer specifications during stationary tests (<0.020 m RMSE) with no observed "range walk". However, mobile tests reveal systematic errors, necessitating considerations such as scale factor adjustments and path reverse-repetition to enhance overall accuracy.
Description
Citation
C. Kelly, O. Mao, V. Gramlich and R. Kirkpatrick, "Assessment of Slam Lidar - An Accuracy Assessment and Drift Anaylsis of the Leica BLK2GO," IGARSS 2024 - 2024 IEEE International Geoscience and Remote Sensing Symposium, Athens, Greece, 2024, pp. 6404-6407, doi: 10.1109/IGARSS53475.2024.10641469.
Publisher
IEEE