Development of a portable high performance mobile mapping system using the robot operating system
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Author (Corporation)
Publication date
2018
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Type
01A - Journal article
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Parent work
ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences
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DOI of the original publication
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Series
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Volume
IV-1
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Pages / Duration
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Publisher / Publishing institution
Copernicus
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Abstract
The rapid progression in digitalization in the construction industry and in facility management creates an enormous demand for the efficient and accurate reality capturing of indoor spaces. Cloud-based services based on georeferenced metric 3D imagery are already extensively used for infrastructure management in outdoor environments. The goal of our research is to enable such services for indoor applications as well. For this purpose, we designed a portable mobile mapping research platform with a strong focus on acquiring accurate 3D imagery. Our system consists of a multi-head panorama camera in combination with two multi-profile LiDAR scanners and a MEMS-based industrial grade IMU for LiDAR-based online and offline SLAM. Our modular implementation based on the Robot Operating System enables rapid adaptations of the sensor configuration and the acquisition software. The developed workflow provides for completely GNSS-independent data acquisition and camera pose estimation using LiDAR-based SLAM. Furthermore, we apply a novel image-based georeferencing approach for further improving camera poses. First performance evaluations show an improvement from LiDAR-based SLAM to image-based georeferencing by an order of magnitude: from 10–13 cm to 1.3–1.8 cm in absolute 3D point accuracy and from 8–12 cm to sub-centimeter in relative 3D point accuracy.
Keywords
Mobile mapping, Indoor, Robot operating system, ROS, SLAM, Sensor orientation, Infrastrucature
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ISBN
ISSN
2194-9050
Language
English
Created during FHNW affiliation
Yes
Strategic action fields FHNW
Publication status
Published
Review
Peer review of the complete publication
Open access category
Gold
License
Citation
Blaser, S., Cavegn, S., & Nebiker, S. (2018). Development of a portable high performance mobile mapping system using the robot operating system. ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences, IV-1. https://doi.org/10.5194/isprs-annals-iv-1-13-2018