3D laser omnimapping for 3D reconstruction of large-scale scenes

There are many needs for the ability to fast acquiring 3D data from environmental surroundings, but the technology for acquiring dense, wide ranging, accurate 3D data is too expensive to be used widely. A low-cost, 360° continuous scanning, 3D laser scanner (AESINGCH MStar 8000) is presented. The data quality of AESINGCH MStar 8000 was analyzed in detail, and the algorithms of 3D feature extraction and range scan registration were given. The experimental results show that AESINGCH MStar 8000 has the higher measuring accuracy and better data quality. Its max range of the scanner is 80m, and its accuracy can achieved 6 mm. it can measure black objects, its weight is only 8kg.