Dense point cloud acquisition with a low-cost Velodyne VLP-16

Bula, Jason; Derron, Marc-Henri; Mariethoz, Gregoire

doi:https://doi.org/10.5194/gi-9-385-2020

Articles | Volume 9, issue 2

https://doi.org/10.5194/gi-9-385-2020

© Author(s) 2020. This work is distributed under
the Creative Commons Attribution 4.0 License.

https://doi.org/10.5194/gi-9-385-2020

© Author(s) 2020. This work is distributed under
the Creative Commons Attribution 4.0 License.

Articles | Volume 9, issue 2

Research article

|

12 Oct 2020

Research article |

| 12 Oct 2020

Dense point cloud acquisition with a low-cost Velodyne VLP-16

Jason Bula, Marc-Henri Derron, and Gregoire Mariethoz

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Final revised paper (published on 12 Oct 2020)
Preprint (discussion started on 04 Mar 2020)

Interactive discussion

Status: closed

AC: Author comment | RC: Referee comment | SC: Short comment | EC: Editor comment

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- Supplement

RC1: 'Review on submission "Dense point cloud acquisition with a low-cost Velodyne VLP-16" - Bula et.al', Anonymous Referee #1, 02 Apr 2020
- AC1: 'Responses to the comments of Reviewer #1', Jason Bula, 25 May 2020
RC2: 'Review', Anonymous Referee #2, 29 Apr 2020
- AC2: 'Responses to the comments of Reviewer #2', Jason Bula, 25 May 2020

Peer-review completion

AR: Author's response | RR: Referee report | ED: Editor decision

AR by Jason Bula on behalf of the Authors (22 Jun 2020) Author's response Manuscript

ED: Referee Nomination & Report Request started (29 Jun 2020) by Anette Eltner

RR by Anonymous Reviewer #1 (12 Aug 2020)

ED: Publish subject to technical corrections (13 Aug 2020) by Anette Eltner

Short summary

We developed a method to acquire dense point clouds with a low-cost Velodyne Puck lidar system, without using expensive Global Navigation Satellite System (GNSS) positioning or IMU. We mounted the lidar on a motor to continuously change the scan direction, leading to a significant increase in the point cloud density. The system was compared with a more expensive system based on IMU registration and a SLAM algorithm. The alignment between acquisitions with those two systems is within 2 m.