Articles | Volume 9, issue 2
https://doi.org/10.5194/gi-9-385-2020
https://doi.org/10.5194/gi-9-385-2020
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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Cited articles

Amiri Parian, J. and Grün, A.: Integrated laser scanner and intensity image calibration and accuracy assessment, Int. Arch. Photogramm., 36, 18–23, 2005. 
Besl, P. J. and McKay, N. D.: Method for registration of 3-D shapes, P. Soc. Photo-Opt. Ins. 1611, 586–606, 1992. 
Bula, J.: jason-bula/velodyne_tls: Dense point cloud Velodyne VLP-16 (Version v1), Zenodo, https://doi.org/10.5281/zenodo.4060145, 2020a. 
Bula, J.: Milandre – Scan lidar, Vimeo, available at: https://vimeo.com/380040742, last access: 10 August 2020b. 
Bula, J.: Mine de Baulmes VLP-16 velodyne, Vimeo, available at: https://vimeo.com/344063864, last access: 10 August 2020c. 
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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.