Low-cost open-source system for 3D environment reconstruction
DOI:
https://doi.org/10.17979/ja-cea.2026.47.13822Keywords:
Information and sensor fusion, Perception and sensing, Mobile robots, Positioning Systems, Localization, Map building, Sensor integration and perceptionAbstract
This paper presents a low-cost handheld device based on a 3D LiDAR and an RGB camera for data acquisition and threedimensional environment reconstruction. The system has been designed as an open and modular platform aimed at research, prototyping, and experimentation, using compact sensors, 3D-printed components, and a software architecture developed on top of ROS 2. The proposed solution combines geometric and visual information to generate colorized point clouds through LiDARcamera calibration and projection processes. Both the hardware design of the device and the software integration implemented for data acquisition, synchronization, and visualization are described. Finally, a preliminary experimental validation in real-world environments is presented, demonstrating the feasibility of the proposed system as a flexible alternative to high-cost proprietary commercial solutions.
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Copyright (c) 2026 Martín Bayón-Gutiérrez, Alicia Gómez-Pascual, Sergio Fernández-Blanco, José Alberto Benítez-Andrades, Carmen Benavides, Natalia Prieto-Fernández
This work is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License.
