Automated Dimension Calculations using a Constructed LiDAR 3D Scanner

Abstract

With an increased interest in autonomous agents,the need for digital models of the surrounding environment is increasing. This thesis explores the usages of a LiDAR sensor in a rotating platform,and in particular the ability to perform automated dimension calculation of closed rooms environments. The construction of the platform is proceeded by error estimation and the implementation of a histogram filtering method. Further, processing of Point Clouds with Point Cloud Library is performed and methods for surface estimations developed. In the presented test cases, automated estimations are successful and the usability is discussed.