Improved Colorized LiDAR SLAM (Street)

0:00 building 0:29 crosswalk 0:52 sidewalk 1:29 crosswalk 2 2:06 building 2 3:36 SLAM (with colorized) Improved colorized 3D mapping with my custom-built handheld LiDAR SLAM scanner. This video showcases a street-scale mapping test in an urban environment, focusing on improved colorized LiDAR reconstruction of building facades, roads, sidewalks, vegetation, parking areas, and surrounding structures. The scanner combines a Livox Mid-360 with a FLIR machine-vision camera. My custom C++ SLAM pipeline reconstructs the environment from LiDAR measurements, while temporally aligned RGB images are projected onto the 3D map to generate a colorized point cloud. Compared with my previous tests, this dataset provides a closer look at how the system handles larger building structures and continuous street environments. The reconstructed map can be explored from both street-level and aerial viewpoints, making it possible to inspect individual facade details as well as the overall geometry of the mapped area. The main focus of this test is improving color coverage while maintaining consistent large-scale 3D reconstruction. What's shown in this video: Improved colorized LiDAR SLAM results Street-scale urban 3D mapping Building facades and large architectural structures Roads, sidewalks, parking areas, and vegetation Street-level and aerial views of the reconstructed point cloud Map exploration using a web-based 3D point cloud viewer Software: SLAM: Custom LiDAR SLAM pipeline (C++) Loop Closure: Scan Context++ Colorization: LiDAR–camera projection using temporally aligned RGB images Visualization: Web-based 3D point cloud viewer Hardware: LiDAR: Livox Mid-360 Camera: FLIR Blackfly S GigE (IMX265, global shutter) Compute: NVIDIA Jetson Orin Nano Super Battery: UGREEN Nexode 200W / 25,000mAh Power: USB-C PD 20V + internal DC-DC conversion Frame: Custom-designed 3D-printed enclosure GUI: Wireless mobile Web GUI The scanner operates as a fully self-contained handheld system using a single integrated battery and a wireless mobile Web GUI, without requiring an external display or separate power pack. This is an ongoing personal development project. I will continue improving the SLAM and colorization pipeline and testing the system in larger and more challenging real-world environments.