Development of a portable high performance mobile mapping system using the robot operating system

dc.contributor.authorBlaser, Stefan
dc.contributor.authorCavegn, Stefan
dc.contributor.authorNebiker, Stephan
dc.date.accessioned2024-07-15T12:11:01Z
dc.date.available2024-07-15T12:11:01Z
dc.date.issued2018
dc.description.abstractThe 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.
dc.identifier.doi10.5194/isprs-annals-iv-1-13-2018
dc.identifier.issn2194-9050
dc.identifier.urihttps://irf.fhnw.ch/handle/11654/46441
dc.identifier.urihttps://doi.org/10.26041/fhnw-9541
dc.language.isoen
dc.publisherCopernicus
dc.relation.ispartofISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences
dc.rights.urihttps://creativecommons.org/licenses/by/4.0/
dc.subjectMobile mapping
dc.subjectIndoor
dc.subjectRobot operating system
dc.subjectROS
dc.subjectSLAM
dc.subjectSensor orientation
dc.subjectInfrastrucature
dc.subject.ddc600 - Technik, Medizin, angewandte Wissenschaften
dc.titleDevelopment of a portable high performance mobile mapping system using the robot operating system
dc.type01A - Beitrag in wissenschaftlicher Zeitschrift
dc.volumeIV-1
dspace.entity.typePublication
fhnw.InventedHereYes
fhnw.ReviewTypeAnonymous ex ante peer review of a complete publication
fhnw.affiliation.hochschuleHochschule für Architektur, Bau und Geomatikde_CH
fhnw.affiliation.institutInstitut Geomatikde_CH
fhnw.openAccessCategoryGold
fhnw.publicationStatePublished
relation.isAuthorOfPublication31874ac5-8697-4f30-bd52-b8650e323944
relation.isAuthorOfPublication4b96d18b-61eb-4948-918e-3a63e83d0322
relation.isAuthorOfPublicationd4405bdc-e966-4962-9c93-9b06879a4a41
relation.isAuthorOfPublication.latestForDiscovery31874ac5-8697-4f30-bd52-b8650e323944
Dateien
Originalbündel
Gerade angezeigt 1 - 1 von 1
Lade...
Vorschaubild
Name:
isprs-annals-IV-1-13-2018.pdf
Größe:
2.08 MB
Format:
Adobe Portable Document Format
Beschreibung:
Lizenzbündel
Gerade angezeigt 1 - 1 von 1
Lade...
Vorschaubild
Name:
license.txt
Größe:
1.36 KB
Format:
Item-specific license agreed upon to submission
Beschreibung: