ISPRS Ann. Photogramm. Remote Sens. Spatial Inf. Sci., II-3/W5, 17-23, 2015
http://www.isprs-ann-photogramm-remote-sens-spatial-inf-sci.net/II-3-W5/17/2015/
doi:10.5194/isprsannals-II-3-W5-17-2015
© Author(s) 2015. This work is distributed
under the Creative Commons Attribution 3.0 License.
 
19 Aug 2015
A MAN-PORTABLE, IMU-FREE MOBILE MAPPING SYSTEM
A. Nüchter1, D. Borrmann1, P. Koch2, M. Kühn2, and S. May2 1Informatics VII – Robotics and Telematics Julius-Maximilians University W¨urzburg, Germany
2Faculty of Electrical Engineering, Precision Engineering, Information Technology Nuremberg Institute of Technology Georg Simon Ohm, Germany
Keywords: Man-portable mapping, Scanning backpack, Signed distance function, SLAM, Scan matching Abstract. Mobile mapping systems are commonly mounted on cars, ships and robots. The data is directly geo-referenced using GPS data and expensive IMU (inertial measurement systems). Driven by the need for flexible, indoor mapping systems we present an inexpensive mobile mapping solution that can be mounted on a backpack. It combines a horizontally mounted 2D profiler with a constantly spinning 3D laser scanner. The initial system featuring a low-cost MEMS IMU was revealed and demonstrated at MoLaS: Technology Workshop Mobile Laser Scanning at Fraunhofer IPM in Freiburg in November 2014. In this paper, we present an IMU-free solution.
Conference paper (PDF, 3357 KB)


Citation: Nüchter, A., Borrmann, D., Koch, P., Kühn, M., and May, S.: A MAN-PORTABLE, IMU-FREE MOBILE MAPPING SYSTEM, ISPRS Ann. Photogramm. Remote Sens. Spatial Inf. Sci., II-3/W5, 17-23, doi:10.5194/isprsannals-II-3-W5-17-2015, 2015.

BibTeX EndNote Reference Manager XML