PEMETAAN 3 DIMENSI MENGGUNAKAN SISTEM LIDAR TERINTEGRASI PADA WAHANA BERGERAK

• Main Author: Permana, Adhi
• Format: Final Project
• Language: Indonesia
• Online Access: https://digilib.itb.ac.id/gdl/view/55338
• Institution: Institut Teknologi Bandung

The lidar technology provides many benefits, especially for mapping applications. Lidar is able to produce substantial amount of point cloud data, that is used to map objects that are on the earth’s surface in three dimensions. However, the use of lidar with a basic functions has not been able to accommodate 3-dimensional mapping that requires accurate position values and point cloud orientation. An integration with other systems is needed to produce a lidar system that can be used in 3-dimensional mapping activities. The purpose of this thesis is to integrate a simple lidar sensor with the IMU and GNSS sensor, to analyze the integration results, and to test integrated lidar by doing 3D mapping for a road object. To achieve this goal, the methodology can be grouped into: sensor hardware integration, planning, acquisition, sensor data integration , and processing of lidar data. The results of this thesis explain that integration can be done through a single observation time synchronization process, an estimation and lidar data transformation process. The resulting integration still has shortcomings where is still drifting in observation time and the occurrence of shifting point clouds due to the instability of the IMU value. The 3D road object is generated from the mapping process using integrated lidar. The filtering process is carried out to remove the point cloud outside of the road object and noise around the road. Validation of the height of the DEM roads that were formed obtained an RMSE value of 0.3502 m