Design and Development of a Livox-Based Indoor Surveying System for Floor Mapping Applications

Abstract. Accurate three-dimensional (3D) data acquisition of indoor environments remains a challenging and resource-intensive task, particularly for fully furnished spaces. This study presents the development and implementation of a low-cost wearable surveying system for efficient 3D indoor data acquisition. The proposed system integrates a Livox Mid-360 LiDAR sensor and an RGB camera mounted on a helmet, both controlled via a mini-PC unit for synchronized data collection. The captured LiDAR frames and inertial measurement unit (IMU) data are fused with RGB imagery using a Simultaneous Localization and Mapping (SLAM) framework to generate 3D reconstruction of interior structures. The resulting point clouds and wall models are evaluated based on RANSAC line fitting method to assess their geometric accuracy and structural consistency. Moreover, a ground truth measurements were collected to verify the absolute accuracy of the resulting point clouds. The proposed approach demonstrates the potential of cost-effective, portable solutions for indoor 3D mapping and documentation with a cm-level of accuracy.