Mobile Mapping Indoors and Outdoors with Zebedee
Zebedee is a handheld 3D mobile mapping system developed at CSIRO. The primary sensor is a 2D Hokuyo lidar scanner which measures the distances to surfaces in the environment (43200 samples per second). A simple spring mechanism is used to convert the natural motion of the operator into scanning sweeps that result in a 3D field of view. CSIRO's specialized software interprets the raw data to estimate the motion of the scanner and generate a 3D point cloud model of the environment. As seen in the video, the system is capable of large-scale mapping of a wide variety of environments ranging from built to natural scenes. Typically, the time it takes to map an environment is the time it takes to walk through it. For visualization purposes, the point clouds shown in this video contain only 9 percent of the points from the full point cloud. Publications describing the technology: [1] or M. Bosse, R. Zlot, and P. Flick, "Zebedee: Design of a Spring-Mounted 3-D Range Sensor with Application to Mobile Mapping", IEEE Transactions on Robotics, 28(5), October 2012. [2] or M. Bosse and R. Zlot, Place Recognition Using Keypoint Voting in Large 3D Lidar Datasets, IEEE International Conference on Robotics and Automation (ICRA), May 2013. The datasets from the video are available at LiDAR News magazine article: A New Scientist article (with video) describing a cave mapping trip: A previous video demonstrating Zebeede can be found at: Further information: Music: Blue Lights by Beat Under Control (

Disciplina: Topografia