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SMALL ROOMS/NARROW HALLWAYS
The limited vertical field of view of the Velodyne 16 and 32-line 3D lidars work very well in
outdoor and large indoor spaces. They do not do well in tight quarters. The modeling technology
in our products relies on laser scan matching to achieve its high level of accuracy but every
modeling system has limitations. Be sure to read the Typical Parameters to Set section for
maximizing the chance for success in small areas.
In particular mobile mapping systems have difficulty handling extruded environments. Smaller
rooms, tunnels, sewers, and narrow hallways are constrained in two axes, but are unconstrained
along the third axis (see diagram below.)
This causes incorrect registration resulting in shortening, lengthening and twisting as can be
seen below.
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