Measurement system of elevator shaft based on 2D LiDAR and corner point detection technologies

Before an elevator is installed in a construction building, the elevator shaft needs to be accurately measured. This paper proposes an automated measurement system for measuring elevator shafts using 2D LiDAR, and a corner feature extraction algorithm. The algorithm quantifies the likelihood of a data point being a corner by defining the feature function and then applies a nonlinear anisotropic filtering technique to remove interference. Experimental results achieve a RMSE of 0.008 meters and a MAE of 0.017 meters, which is superior to the UAV measurement solution and is 60% time savings compared to manual measurements.