This study develops a low-cost terrestrial lidar system (TLS) for dense point cloud acquisition. Our system consists of a VLP-16 lidar scanner produced by Velodyne, which we have placed on a motorized rotating platform. This allows us to continuously change the direction and densify the scan. Axis correction is performed in post-processing to obtain accurate scans. The system has been compared indoors with a high-cost system, showing an average absolute difference of ±2.5 cm. Stability tests demonstrated an average distance of ±2 cm between repeated scans with our system. The system has been tested in abandoned mines with promising results. It has a very low price (approximately USD 4000) and opens the door to measuring risky sectors where instrument loss is high but information valuable.

中文翻译：

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使用低成本Velodyne VLP-16进行密集点云采集

这项研究开发了一种用于密集点云采集的低成本地面激光雷达系统（TLS）。我们的系统由Velodyne生产的VLP-16激光雷达扫描仪组成，已将其放置在电动旋转平台上。这使我们能够不断改变方向并增强扫描强度。在后处理中执行轴校正以获得准确的扫描。该系统已在室内与高成本系统进行了比较，显示出的平均绝对差为±2.5  cm。稳定性测试表明平均距离为±2 厘米在我们的系统重复扫描之间。该系统已经在废弃矿山中进行了测试，并取得了可喜的结果。它的价格非常低（约4000美元），为测量仪器损耗高但信息有价值的高风险领域敞开了大门。