Three-Dimensional Reconstruction of Enclosed Environments Based on Two-Dimensional LiDAR: Starting Point and Future Challenges

Authors

  • Pablo Raul Yanyachi Instituto de Investigación Astronómico y Aeroespacial Pedro Paulet, Universidad Nacional de San Agustin de Arequipa https://orcid.org/0000-0001-5398-1461
  • Alfredo Mamani Saico Instituto de Investigación Astronómico y Aeroespacial Pedro Paulet, Universidad Nacional de San Agustin de Arequipa https://orcid.org/0009-0002-9890-4050
  • Flor Chacon Escuela Profesional de Ingenieria Electronica, Universidad Nacional de San Agustin de Arequipa https://orcid.org/0009-0000-7132-7711
  • Miguel Esquivel Escuela Profesional de Ingenieria Electronica, Universidad Nacional de San Agustin de Arequipa https://orcid.org/0009-0004-9301-5515
  • Juan Carlos Cutipa Luque Instituto de Investigación Astronómico y Aeroespacial Pedro Paulet, Universidad Nacional de San Agustin de Arequipa https://orcid.org/0000-0003-1459-4201
  • Daniel Yanyachi Instituto de Investigación Astronómico y Aeroespacial Pedro Paulet, Universidad Nacional de San Agustin de Arequipa https://orcid.org/0000-0002-8964-5352

Keywords:

Tridimentional reconstruction, LiDAR, robot operating system, mapping, mobile robots

Abstract

Robotics and LiDAR technology stand as a crucial cornerstone for the development of cutting-edge three-dimensional mapping systems. This study represents a significant advancement by addressing the development of an initial approach for a three-dimensional mapping system, utilizing a unique LiDAR translational mechanism. In pursuit of this objective, a comprehensive review of works exclusively dedicated to mechanisms employing two-dimensional LiDAR has been conducted. This selective approach results in a comprehensive understanding of the mechanism used for three-dimensional reconstruction and lays the groundwork for future endeavors. Furthermore, a robotic prototype has been implemented using the Robot Operating System (ROS), serving as an accessible tool for implementing our initial approach and engaging new researchers from our university in the application of robotics for three-dimensional reconstruction through LiDAR technology. The validation of our study is conducted through tests in both open and closed environments, revealing high data resolution and a correlation of over 98% with the real environment. The study suggests further research based on the identified errors and introduces new challenges for developing robust prototypes capable of handling changes in a robot's attitude.

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Author Biographies

Pablo Raul Yanyachi, Instituto de Investigación Astronómico y Aeroespacial Pedro Paulet, Universidad Nacional de San Agustin de Arequipa

Pablo Raul Yanyachi received the M.Sc. degree in automatic control from the Polytechnic Institute of Leningrad, and the Ph.D. in electrical engineering from the Polytechnic School, University of São Paulo, Brazil. He is currently a main Professor at the Academic Department of Electronic Engineering, Universidad Nacional de San Agustin de Arequipa (UNSA). He is the Station Manager of the NASA Laser Tracking Station TLRS-3, Arequipa, Peru. He is also the Director of Instituto de Investigación Astronómico y Aeroespacial Pedro Paulet (IAAPP), UNSA.

Alfredo Mamani Saico, Instituto de Investigación Astronómico y Aeroespacial Pedro Paulet, Universidad Nacional de San Agustin de Arequipa

Alfredo Mamani Saico, was born in Cusco, Peru, in 2000. He holds a degree in Electronic Engineering from the Universidad Nacional de San Agustín de Arequipa (UNSA). He is a junior researcher at the Instituto Astronómico y Aeroespacial Pedro Paulet (IAAPP), UNSA. His research interests are robotics, distributed systems, and nanosatellite development.

Flor Chacon, Escuela Profesional de Ingenieria Electronica, Universidad Nacional de San Agustin de Arequipa

Flor Xiomara Chacon Guillen, was born in Arequipa, Peru. She received a B.Sc. degree in Industrial Engineering and a B.Sc. degree in Electronic Engineering from the National University of San Agustin de Arequipa (UNSA). She was a junior researcher at the Pedro Paulet Astronomical and Aerospace Institute (IAAPP), UNSA. Currently, her interests include robotics, autonomous vehicles, industrial instrumentation, and process control.

Miguel Esquivel, Escuela Profesional de Ingenieria Electronica, Universidad Nacional de San Agustin de Arequipa

Miguel Angel Esquivel Yanque, was born in Arequipa, Peru, in 1999. He received B.Sc. degree in Electronic Engineering at the Universidad Nacional de San Agustín de Arequipa (UNSA). He is currently a junior researcher at the Institute of Astronomy and Aeronautics (IAAPP), UNSA. His research interests include robotics, embedded systems, and advanced control systems.

Juan Carlos Cutipa Luque, Instituto de Investigación Astronómico y Aeroespacial Pedro Paulet, Universidad Nacional de San Agustin de Arequipa

Juan Carlos Cutipa Luque was born in Arequipa, Peru. He graduated in electronic engineering from the Universidad Nacional de San Agustin de Arequipa, Peru, in 2004, and was granted his M.Sc. and Ph.D. degrees in mechanical engineering from the University of Sao Paulo, Brazil, in 2007 and 2012, respectively. He is currently a Professor with the Electronic Engineering Department, Universidad Nacional de San Agustin de Arequipa, Peru. His research interests include advanced control systems for autonomous underwater vehicles (AUVs), remote-operated submersible vehicles (ROVs), unmanned surface vehicles (USV), and electric vehicles.

Daniel Yanyachi, Instituto de Investigación Astronómico y Aeroespacial Pedro Paulet, Universidad Nacional de San Agustin de Arequipa

Daniel Yanyachi was born in Peru. He graduated in electrical engineering, with M.Sc. and Ph.D., from the Leningrad Polytechnic Institute. He has lectured for many years as a Full Professor at the Electronic Engineering Department, Universidad Nacional de San Agustin de Arequipa, Peru. His research interests include processing control systems, mining, manufacturing, and complex and advanced control systems.

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Published

2024-07-31

How to Cite

Yanyachi, P. R., Mamani Saico, A. ., Chacon, F., Esquivel, M., Cutipa Luque, J. C., & Yanyachi, D. (2024). Three-Dimensional Reconstruction of Enclosed Environments Based on Two-Dimensional LiDAR: Starting Point and Future Challenges. IEEE Latin America Transactions, 22(8), 704–712. Retrieved from https://latamt.ieeer9.org/index.php/transactions/article/view/8895

Issue

Section

Electronics