Uploaded December 2011 | Updated September 2026, 1 week ago
Handheld laser mapping system developed at CSIRO that is able to generate 3D maps in GPS denied areas (indoors, underground, etc). The system consists of a Hokuyo 2D lidar (30m maximum range), with a battery and a laptop in a backpack. Specialized software computes the 6DoF position and orientation of the sensor and generates a 3D point cloud model of the environment in real-time. In addition to indoor spaces, the system also functions outdoors, including in natural environments.
A new video featuring Zebedee: youtu.be/DUEAz_naHHg
Publications describing the Zebedee system:
[1] https://db.tt/lUIKVWXD or dx.doi.org/10.1109/TRO.2012.2200990
M. Bosse, R. Zlot, and P. Flick, "Zebedee: Design of a Spring-Mounted 3-D Range Sensor with Application to Mobile Mapping", IEEE Transactions on Robotics, 28(5), October 2012.
[2] https://db.tt/V31Qepgj or dx.doi.org/10.1109/ICRA.2013.6630945
M. Bosse and R. Zlot, Place Recognition Using Keypoint Voting in Large 3D Lidar Datasets, IEEE International Conference on Robotics and Automation (ICRA), May 2013.
Further information can be found at http://wiki.csiro.au/display/ASL/Zebedee
Handheld laser mapping system developed at CSIRO that is able to generate 3D maps in GPS denied areas (indoors, underground, etc). The system consists of a Hokuyo 2D lidar (30m maximum range), with a battery and a laptop in a backpack. Specialized software computes the 6DoF position and orientation of the sensor and generates a 3D point cloud model of the environment in real-time. In addition to indoor spaces, the system also functions outdoors, including in natural environments.
A new video featuring Zebedee: youtu.be/DUEAz_naHHg
Publications describing the Zebedee system:
[1] https://db.tt/lUIKVWXD or dx.doi.org/10.1109/TRO.2012.2200990
M. Bosse, R. Zlot, and P. Flick, "Zebedee: Design of a Spring-Mounted 3-D Range Sensor with Application to Mobile Mapping", IEEE Transactions on Robotics, 28(5), October 2012.
[2] https://db.tt/V31Qepgj or dx.doi.org/10.1109/ICRA.2013.6630945
M. Bosse and R. Zlot, Place Recognition Using Keypoint Voting in Large 3D Lidar Datasets, IEEE International Conference on Robotics and Automation (ICRA), May 2013.
Further information can be found at http://wiki.csiro.au/display/ASL/Zebedee
