ISPRS-Annals ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences ISPRS-Annals ISPRS Ann. Photogramm. Remote Sens. Spatial Inf. Sci. 2194-9050 Copernicus Publications Göttingen, Germany 10.5194/isprs-annals-V-1-2021-65-2021 RADLER – A UNICYCLE AS A LOW-COST RADIAL LASER SCANNER Borrmann D. 1 Jörissen S. 1 Nüchter A. 1 https://orcid.org/0000-0003-3870-783X Informatics VII – Robotics and Telematics, Julius Maximilian University of Würzburg, Germany 17 06 2021 V-1-2021 65 72 Copyright: © 2021 D. Borrmann et al. 2021 This work is licensed under the Creative Commons Attribution 4.0 International License. To view a copy of this licence, visit https://creativecommons.org/licenses/by/4.0/ This article is available from https://isprs-annals.copernicus.org/articles/isprs-annals-V-1-2021-65-2021.html The full text article is available as a PDF file from https://isprs-annals.copernicus.org/articles/isprs-annals-V-1-2021-65-2021.pdf

In recent years a wide range of 3D multi sensor systems for various applications has been proposed. Each of them has its own benefits and limitations. This paper proposes a modified unicycle with a 2D laser profiler attached to the wheel axle, thus creating a radial 3D scanning pattern. This novel low-cost device combines the advantages of wheeled scanning equipment with those of wearable or hand-held devices. After presenting the hardware setup and the sensor integration, the results are evaluated using four test scenarios and a terrestrial laser scanner for comparison.