Backpack Version 1

As depicted in the Figure, the first backpack was rapid-prototyped of 4040 and 4080 aluminum extrusions. It holds the following sensors and hardware:

  • Horizontally mounted Velodyne VLP-16
  • Vertically mounted Velodyne VLP-16
  • my_ahrs+ intertial measurement unit
  • Netgear ProSafe 8 Port Gigabit Switch
  • 12V Old motorcycle battery (lead gel)
  • 12V power divider for LiDARs and Switch
First iteration of Backpack

A visualization of the raw LiDAR measurements can be seen in the video below. The point clouds colored in green are measurements from the horizontally mounted VLP-16. Respectively, point clouds colored in blue are from the vertically mounted VLP-16.

A visualization of the raw LiDAR measurements where colors represent the intensity readings can be watched in the video below.

A SLAM run of an indoor environment is visualized in the video below. Successful loop closure detection and optimization can be seen at minute 4:34.