Development of a portable high performance mobile mapping system using the robot operating system
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Autor:innen
Autor:in (Körperschaft)
Publikationsdatum
2018
Typ der Arbeit
Studiengang
Sammlung
Typ
01A - Beitrag in wissenschaftlicher Zeitschrift
Herausgeber:innen
Herausgeber:in (Körperschaft)
Betreuer:in
Übergeordnetes Werk
ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences
Themenheft
DOI der Originalpublikation
Link
Reihe / Serie
Reihennummer
Jahrgang / Band
IV-1
Ausgabe / Nummer
Seiten / Dauer
Patentnummer
Verlag / Herausgebende Institution
Copernicus
Verlagsort / Veranstaltungsort
Auflage
Version
Programmiersprache
Abtretungsempfänger:in
Praxispartner:in/Auftraggeber:in
Zusammenfassung
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.
Schlagwörter
Mobile mapping, Indoor, Robot operating system, ROS, SLAM, Sensor orientation, Infrastrucature
Fachgebiet (DDC)
600 - Technik, Medizin, angewandte Wissenschaften
Veranstaltung
Startdatum der Ausstellung
Enddatum der Ausstellung
Startdatum der Konferenz
Enddatum der Konferenz
Datum der letzten Prüfung
ISBN
ISSN
2194-9050
Sprache
Englisch
Während FHNW Zugehörigkeit erstellt
Ja
Zukunftsfelder FHNW
Publikationsstatus
Veröffentlicht
Begutachtung
Peer-Review der ganzen Publikation
Open Access-Status
Gold
Lizenz
Zitation
BLASER, Stefan, Stefan CAVEGN und Stephan NEBIKER, 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. 2018. Bd. IV-1. DOI 10.5194/isprs-annals-iv-1-13-2018. Verfügbar unter: https://doi.org/10.26041/fhnw-9541