Enhanced Indoor Mapping via Integration of Lidar and HoloLens 2 Data Using Iterative Closest Point Algorithm

This study presents an innovative method to improve the accuracy of indoor mapping by deploying and integrating a sensor that transmits two-dimensional data with a three-dimensional mesh created by another device. The Iterative Closest Point algorithm was used to coordinate the different data sets and transform their different coordinate systems into a common indoor map. Prior to this, rigorous image cleaning and matching processes are conducted to ensure the quality of the data used. The effectiveness of this methodology has been validated through multiple tests using a Lidar scanner and a HoloLens 2 Augmented Reality device. This method not only offers potential for enhancing indoor navigation and safety protocols like emergency evacuation but also presents opportunities for advancing asset tracking and other applications. © 2024 IEEE.