Method for Underground Mining Shaft Sensor Data Collection.

The motivation behind this research is the lack of an underground mining shaft data set in the literature in the form of open access. For this reason, our data set can be used for many research purposes such as shaft inspection, 3D measurements, simultaneous localization and mapping, artificial intelligence, etc. The data collection method incorporates rotated Velodyne VLP-16, Velodyne Ultra Puck VLP-32c, Livox Tele-15, IMU Xsens MTi-30 and Faro Focus 3D.

Affordable Robotic Mobile Mapping System Based on Lidar with Additional Rotating Planar Reflector.

This paper describes an affordable robotic mobile 3D mapping system. It is built with Livox Mid-40 lidar with a conic field of view extended by a custom rotating planar reflector. This 3D sensor is compared with the more expensive Velodyne VLP 16 lidar.

Calibration of Planar Reflectors Reshaping LiDAR's Field of View.

This paper describes the calibration method for calculating parameters (position and orientation) of planar reflectors reshaping LiDAR's (light detection and ranging) field of view. The calibration method is based on the reflection equation used in the ICP (Iterative Closest Point) optimization. A novel calibration process as the multi-view data registration scheme is proposed; therefore, the poses of the measurement instrument and parameters of planar reflectors are calculated simultaneously.

A Novel Approach to Global Positioning System Accuracy Assessment, Verified on LiDAR Alignment of One Million Kilometers at a Continent Scale, as a Foundation for Autonomous DRIVING Safety Analysis.

This paper concerns a new methodology for accuracy assessment of GPS (Global Positioning System) verified experimentally with LiDAR (Light Detection and Ranging) data alignment at continent scale for autonomous driving safety analysis. Accuracy of an autonomous driving vehicle positioning within a lane on the road is one of the key safety considerations and the main focus of this paper. The accuracy of GPS positioning is checked by comparing it with mobile mapping tracks in the recorded high-definition source.