Two-Stage Incremental Three-Dimensional Spatial Mapping Approach Using a Single-Layer Lidar

Multilayer-lidar-used solution is popular though financial consumption is extremely expensive. In addition, multilayer lidars are barely able to reconstruct an incremental three-dimensional (3D) spatial mapping, due to the limited pitch-angler movement. To solve this problem, in this paper we design and develop a device employed a low budget single-layer lidar and a stepping motor. Spatial coordinate algorithm converts single-layer lidar data from polar coordinates to Cartesian coordinates (3D). Then the converted point cloud data is processed in two stage. In the first stage, the converted 3D data is coarse registered by the SAC-IA algorithm to obtain a better initial pose. In the second stage, the ICP algorithm is used to accurately register the point cloud data to reconstruct the incremental 3D spatial mapping. The experiments performed show that the single-layer lidar used spatial mapping by the two-stage method senses more complete space than that of using 16-layer lidar. The quantitative analysis of the incremental 3D spatial mapping experiments show that the accuracy (0.0998) meets the engineering requirements. Moreover, the lower cost (40% off) is also an advantage for low budget applications.