SLAM-based 3D outdoor reconstructions from lidar data

Abstract

The use of depth (RGBD) cameras to reconstruct large outdoor environments is not feasible due to lighting conditions and low depth range. LIDAR sensors can be used instead. Most state of the art SLAM methods are devoted to indoor environments and depth (RGBD) cameras. We have adapted two SLAM systems to work with LIDAR data. We have compared the systems for LIDAR and RGBD data by performing quantitative evaluations. Results show that the best method for LIDAR data is RTAB-Map with a clear difference. Additionally, RTAB-Map has been used to create 3D reconstructions with and without photometry from a visible color camera. This proves the potential of LIDAR sensors for the reconstruction of outdoor environments for immersion or audiovisual production applicationsPeer ReviewedPostprint (author's final draft