3D mapping of indoor and outdoor environments using apple smart devices

Abstract

Recent integration of LiDAR into smartphones opens up a whole new world of possibilities for 3D indoor/outdoor mapping. Although these new systems offer an unprecedent opportunity for the democratization in the use of scanning technology, data quality is lower than data captured from high-end LiDAR sensors. This paper is focused on discussing the capability of recent Apple smart devices for applications related with 3D mapping of indoor and outdoor environments. Indoor scenes are evaluated from a reconstruction perspective, and three geometric aspects (local precision, global correctness, and surface coverage) are considered using data captured in two adjacent rooms. Outdoor environments are analysed from a mobility point of view, and elements defining the physical accessibility in building entrances are considered for evaluation.