用激光扫描还原哈姆雷特城堡全貌，助力三维建图与定位研究。
Royal Reveals: LiDAR Mapping of Kronborg Castle, Echoes of Hamlet's Halls
- 采用16通道激光雷达+深度相机，360度扫描城堡建筑细节
- 生成高精度数字模型，支持SLAM与平面图生成实验
- 适合做三维重建、SLAM或历史建筑数字化的研究者使用
本文展示了一项大规模的精细360度激光雷达（LiDAR）扫描数据集，采集自位于丹麦埃尔辛格（Helsingør）的著名文艺复兴时期要塞——克龙堡城堡，该城堡因莎士比亚《哈姆雷特》而闻名。研究采用垂直安装、云台稳定、16通道、360度的Velodyne VLP-16激光雷达扫描仪，并搭配Intel RealSense L515深度相机。该数据集提供了城堡复杂建筑细节与结构特征的前所未有的数字表征，可供研究人员开展基于该数据的SLAM（同步定位与建图）及平面图生成等实验。
原文摘要 · Abstract (English)
This paper presents a large scale dataset from a meticulous 360-degree LiDAR (Light Detection and Ranging) scan conducted on Kronborg Castle, a renowned Renaissance fortress located in Elsinore (Helsingør), Denmark, famously associated with Shakespeare's "Hamlet." Utilising a vertical mounted, gimbal stabilised, 16 channel, 360-degree Velodyne VLP-16 LiDAR scanner, paired with an Intel RealSense L515 depth camera. This research offers an unparalleled digital representation of the castle's intricate architectural details and structural nuances, enabling fellow researchers to conduct experiments utilising the data for SLAM (Simultaneous Localisation and Mapping) as well as floorplan generation.
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