Public defence in geoinformatics, M.Sc. (Tech) Aino Keitaanniemi

The title of doctoral thesis: Improving the measurement strategies and post-processing of Simultaneous Localization and Mapping based handheld laser scanning

More efficient 3D mapping with wearable laser scanners 

3D mapping of the environment has been researched for decades. Many of the 3D measurement technologies such as laser scanners are relatively slow. To 3D map, a house with them could take a day. The manufacturers have developed faster measurement technologies which are called simultaneous localization and mapping (SLAM) laser scanners. The problem with these laser scanners is their accuracy which is not at the same level as with the earlier laser scanners. The dissertation analyzes how the new SLAM laser scanners should be utilized to create more accurate results with them. 

3D mapping of building could be more efficient with improved measurement methods of SLAM laser scanners. SLAM laser scanners have been utilized for many applications such as mapping forests or cultural heritage sites. Despite this, a more detailed analysis of the measurement method with SLAM laser scanners has minimally been researched. 

3D mapping with SLAM laser scanners requires a specific type of measurement path based on the environment. In a stable environment, the measurement path can be more straightforward than in an unstable environment. In addition, the field of view of the laser scanner and the features in the environment are affecting the accuracy of the SLAM laser scanner. By combining the SLAM laser scanners with other laser scanners it is possible to map a building 72% faster than without the SLAM laser scanner. With the results, it is possible to improve the accuracy and the efficiency of the SLAM laser scanner while 3D mapping the built environment. In addition, the results are presenting the relation of the environment to the accuracy of the SLAM laser scanner. 

The built environment is based on many types of environments. For that reason, the results of the dissertation can be utilized for many applications such as monitoring construction sites, modeling developing cities and mapping parks.

Opponent: PhD Carlos Cabo Gómez, University of Oviedo, Spain

Custos: Assistant Professor Matti Vaaja, Aalto University School of Engineering, Department of Built Environment

Contact information of the doctoral student: Aino Keitaanniemi, [email protected]

The public defence will be organised on campus (auditorium 216, Otakaari 4). 

The thesis is publicly displayed 10 days before the defence in the publication archive Aaltodoc of Aalto University. 

Electronic thesis

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