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.
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.
the Creative Commons Attribution 4.0 License.
Research article
| 
12 Oct 2020
Research article |
| 12 Oct 2020
| 12 Oct 2020
Dense point cloud acquisition with a low-cost Velodyne VLP-16
Institute of Earth Surface Dynamics, University of Lausanne, Lausanne, Switzerland
Marc-Henri Derron
Institute of Earth Sciences, University of Lausanne, Lausanne, Switzerland
Gregoire Mariethoz
Institute of Earth Surface Dynamics, University of Lausanne, Lausanne, Switzerland
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Cited
19 citations as recorded by crossref.
- An Example of Using Low-Cost LiDAR Technology for 3D Modeling and Assessment of Degradation of Heritage Structures and Buildings P. Kędziorski et al. https://doi.org/10.3390/ma17225445
- Mobile Mapping Approach to Apply Innovative Approaches for Real Estate Asset Management: A Case Study G. Vassena https://doi.org/10.3390/app15147638
- The power of fusion: LiDAR meets hyperspectral imaging in a new era of exploration N. Kazanskiy et al. https://doi.org/10.1016/j.optlastec.2025.114080
- A Method for Developing a Digital Terrain Model of the Coastal Zone Based on Topobathymetric Data from Remote Sensors M. Specht & M. Wiśniewska https://doi.org/10.3390/rs16244626
- Multi-Source 3D Documentation for Preserving Cultural Heritage R. Oprea et al. https://doi.org/10.3390/app16041834
- Low-Cost Real-Time Localisation for Agricultural Robots in Unstructured Farm Environments C. Liu & B. Nguyen https://doi.org/10.3390/machines12090612
- Influence-Based Quantization Method for Lifting Transform of G-PCC J. Byeon & D. Sim https://doi.org/10.1109/ACCESS.2024.3409810
- Automatic Background Filtering for Cooperative Perception Using Roadside LiDAR J. Liu et al. https://doi.org/10.1109/TITS.2023.3342178
- Material and Structural Characterization of Historical Masonry: Analytical Framework for Restoration Planning: A Case Study A. Grămescu et al. https://doi.org/10.3390/app15116176
- ЛАЗЕРНЫЕ ЛОКАЦИОННЫЕ СИСТЕМЫ 3D FLASH LADAR ДЛЯ ИНТЕЛЛЕКТУАЛЬНОЙ НАВИГАЦИИ ТРАНСПОРТА Е. Старовойтов & Е. Скиба https://doi.org/10.22184/1992-4178.2024.241.10.126.130
- Calculating the Optimal Point Cloud Density for Airborne LiDAR Landslide Investigation: An Adaptive Approach Z. Liao et al. https://doi.org/10.3390/rs16234563
- An Investigation on a Plane-Based Dynamic Calibration Method for the Handheld LiDAR Scanner S. Chio https://doi.org/10.3390/s22010369
- Investigation of Widely Used SLAM Sensors Using Analytical Hierarchy Process M. Khan et al. https://doi.org/10.1155/2022/5428097
- A Suitable Scan-to-BIM Process Using OS Software and Low-Cost Sensors: Trend, Solutions and Experimental Validation M. Pepe et al. https://doi.org/10.3390/architecture6010024
- A comprehensive approach to evaluate coastal dune evolution in Haiyang, China D. Ma et al. https://doi.org/10.3389/fmars.2024.1326317
- Object Detection Based on Roadside LiDAR for Cooperative Driving Automation: A Review P. Sun et al. https://doi.org/10.3390/s22239316
- Robotic Cross-Platform Sensor Fusion and Augmented Visualization for Large Indoor Space Reality Capture F. Xu et al. https://doi.org/10.1061/(ASCE)CP.1943-5487.0001047
- 3D Object Recognition and Localization with a Dense LiDAR Scanner H. Geng et al. https://doi.org/10.3390/act11010013
- Analysis of Mobile Mapping Vehicle multi-sensor GNSS-LiDAR-Camera integration for Local Water Supply Utility (PDAM) customer identification L. Triawan et al. https://doi.org/10.1016/j.geomat.2026.100112
19 citations as recorded by crossref.
- An Example of Using Low-Cost LiDAR Technology for 3D Modeling and Assessment of Degradation of Heritage Structures and Buildings P. Kędziorski et al. https://doi.org/10.3390/ma17225445
- Mobile Mapping Approach to Apply Innovative Approaches for Real Estate Asset Management: A Case Study G. Vassena https://doi.org/10.3390/app15147638
- The power of fusion: LiDAR meets hyperspectral imaging in a new era of exploration N. Kazanskiy et al. https://doi.org/10.1016/j.optlastec.2025.114080
- A Method for Developing a Digital Terrain Model of the Coastal Zone Based on Topobathymetric Data from Remote Sensors M. Specht & M. Wiśniewska https://doi.org/10.3390/rs16244626
- Multi-Source 3D Documentation for Preserving Cultural Heritage R. Oprea et al. https://doi.org/10.3390/app16041834
- Low-Cost Real-Time Localisation for Agricultural Robots in Unstructured Farm Environments C. Liu & B. Nguyen https://doi.org/10.3390/machines12090612
- Influence-Based Quantization Method for Lifting Transform of G-PCC J. Byeon & D. Sim https://doi.org/10.1109/ACCESS.2024.3409810
- Automatic Background Filtering for Cooperative Perception Using Roadside LiDAR J. Liu et al. https://doi.org/10.1109/TITS.2023.3342178
- Material and Structural Characterization of Historical Masonry: Analytical Framework for Restoration Planning: A Case Study A. Grămescu et al. https://doi.org/10.3390/app15116176
- ЛАЗЕРНЫЕ ЛОКАЦИОННЫЕ СИСТЕМЫ 3D FLASH LADAR ДЛЯ ИНТЕЛЛЕКТУАЛЬНОЙ НАВИГАЦИИ ТРАНСПОРТА Е. Старовойтов & Е. Скиба https://doi.org/10.22184/1992-4178.2024.241.10.126.130
- Calculating the Optimal Point Cloud Density for Airborne LiDAR Landslide Investigation: An Adaptive Approach Z. Liao et al. https://doi.org/10.3390/rs16234563
- An Investigation on a Plane-Based Dynamic Calibration Method for the Handheld LiDAR Scanner S. Chio https://doi.org/10.3390/s22010369
- Investigation of Widely Used SLAM Sensors Using Analytical Hierarchy Process M. Khan et al. https://doi.org/10.1155/2022/5428097
- A Suitable Scan-to-BIM Process Using OS Software and Low-Cost Sensors: Trend, Solutions and Experimental Validation M. Pepe et al. https://doi.org/10.3390/architecture6010024
- A comprehensive approach to evaluate coastal dune evolution in Haiyang, China D. Ma et al. https://doi.org/10.3389/fmars.2024.1326317
- Object Detection Based on Roadside LiDAR for Cooperative Driving Automation: A Review P. Sun et al. https://doi.org/10.3390/s22239316
- Robotic Cross-Platform Sensor Fusion and Augmented Visualization for Large Indoor Space Reality Capture F. Xu et al. https://doi.org/10.1061/(ASCE)CP.1943-5487.0001047
- 3D Object Recognition and Localization with a Dense LiDAR Scanner H. Geng et al. https://doi.org/10.3390/act11010013
- Analysis of Mobile Mapping Vehicle multi-sensor GNSS-LiDAR-Camera integration for Local Water Supply Utility (PDAM) customer identification L. Triawan et al. https://doi.org/10.1016/j.geomat.2026.100112
Saved (final revised paper)
Latest update: 09 Jun 2026
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.
We developed a method to acquire dense point clouds with a low-cost Velodyne Puck lidar system,...
