Volume IV-2/W5
ISPRS Ann. Photogramm. Remote Sens. Spatial Inf. Sci., IV-2/W5, 381-387, 2019
https://doi.org/10.5194/isprs-annals-IV-2-W5-381-2019
© Author(s) 2019. This work is distributed under
the Creative Commons Attribution 4.0 License.
ISPRS Ann. Photogramm. Remote Sens. Spatial Inf. Sci., IV-2/W5, 381-387, 2019
https://doi.org/10.5194/isprs-annals-IV-2-W5-381-2019
© Author(s) 2019. This work is distributed under
the Creative Commons Attribution 4.0 License.

  29 May 2019

29 May 2019

MOBILE MAPPING OF THE LA CORONA LAVATUBE ON LANZAROTE

H. A. Lauterbach1, D. Borrmann1, A. Nüchter1, A. P. Rossi2, V. Unnithan2, P. Torrese3, and R. Pozzobon4 H. A. Lauterbach et al.
  • 1Computer Science VII – Robotics and Telematics, Julius-Maximilians-Universität Würzburg, Germany
  • 2Physics and Earth Sciences, Jacobs University Bremen, Germany
  • 3Dipartimento di Scienze della Terra e dell’Ambiente, Università di Pavia, Italy
  • 4Department of Geosciences, Università degli Studi di Padova, Italy

Keywords: Mobile Mapping, Laser Scanning, SLAM, Rough Environment

Abstract. Planetary surfaces consist of rough terrain and cave-like environments. Future planetary exploration demands for accurate mapping. However, recent backpack mobile mapping systems are mostly tested in structured, indoor environments. This paper evaluates the use of a backpack mobile mapping system in a cave-like environment. The experiments demonstrate the abilities of an continuous-time optimization approach by mapping part of a lavatube of the La Corona volcano system on Lanzarote. We compare two strategies for trajectory estimation relying either on 2D or 3D laser scanners and show that a 3D laser scanner substantially improved the final results.