Research Focus
3D Environmental Information Acquisition via Handheld Measurement Device
This study focuses on developing an original 3D SLAM system based on FAST-LIO2 to accurately acquire and utilize three-dimensional information from real environments. The proposed system integrates sensor data primarily from LiDAR and IMU sensors. It generates point cloud maps of indoor spaces and the areas around facilities using a handheld measurement device. Camera information may also be incorporated when necessary to improve the stability of self-localization and environmental recognition. The acquired point clouds are used not only for visualization, but also as fundamental data for understanding the shapes of spaces and facilities. The system also emphasizes practical usability in field environments, enabling flexible measurement in locations where installing fixed equipment is difficult. In the future, the study aims to represent building interiors and facility structures as three-dimensional models from the acquired point clouds. Through this approach, the research is expected to contribute to applications such as maintenance inspection, spatial recording, and digital twins.