Volume II-3/W5
ISPRS Ann. Photogramm. Remote Sens. Spatial Inf. Sci., II-3/W5, 17-23, 2015
https://doi.org/10.5194/isprsannals-II-3-W5-17-2015
© Author(s) 2015. This work is distributed under
the Creative Commons Attribution 3.0 License.
ISPRS Ann. Photogramm. Remote Sens. Spatial Inf. Sci., II-3/W5, 17-23, 2015
https://doi.org/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

19 Aug 2015

A MAN-PORTABLE, IMU-FREE MOBILE MAPPING SYSTEM

A. Nüchter1, D. Borrmann1, P. Koch2, M. Kühn2, and S. May2 A. Nüchter et al.
  • 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.