用安卓手机+激光雷达做低成本便携地图采集，精度够用还开源。
A Low-Cost Portable Lidar-based Mobile Mapping System on an Android Smartphone
- 用手机+激光雷达+RTK-GNSS构建移动测绘系统，轻便易用。
- 整机成本低于2000美元，重量仅1公斤，兼顾便携与精度。
- 适合科研、教育及小规模实景建模，代码数据全开源。
元宇宙、数字孪生和机器人技术的快速发展推动了对低成本、便携式现实捕获系统的需求。现有移动端方案如Leica BLK2Go和搭载激光雷达的智能手机，或价格高昂，或测距与精度受限。借助移动设备普及和激光雷达技术进步，我们提出一种新型低成本、便携式移动测绘系统。该系统集成激光雷达模块、安卓手机与RTK-GNSS接收器，基于Android平台运行，使用NDK实现激光雷达-惯性里程计，并同步记录激光雷达、广角相机、IMU和GNSS数据。系统总物料成本（BOM）低于2000美元，重量约1公斤，在性价比与便携性之间取得良好平衡。本文详述系统设计、多传感器标定与时间同步方法，并评估其在定位与建图方面的性能。为促进社区发展，系统设计与软件已开源：https://github.com/OSUPCVLab/marslogger_android/releases/tag/v2.1
原文摘要 · Abstract (English)
The rapid advancement of the metaverse, digital twins, and robotics underscores the demand for low-cost, portable mapping systems for reality capture. Current mobile solutions, such as the Leica BLK2Go and lidar-equipped smartphones, either come at a high cost or are limited in range and accuracy. Leveraging the proliferation and technological evolution of mobile devices alongside recent advancements in lidar technology, we introduce a novel, low-cost, portable mobile mapping system. Our system integrates a lidar unit, an Android smartphone, and an RTK-GNSS stick. Running on the Android platform, it features lidar-inertial odometry built with the NDK, and logs data from the lidar, wide-angle camera, IMU, and GNSS. With a total bill of materials (BOM) cost under 2,000 USD and a weight of about 1 kilogram, the system achieves a good balance between affordability and portability. We detail the system design, multisensor calibration, synchronization, and evaluate its performance for tracking and mapping. To further contribute to the community, the system's design and software are made open source at: https://github.com/OSUPCVLab/marslogger_android/releases/tag/v2.1
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