ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences
Download
Publications Copernicus
Download
Citation
Articles | Volume IV-2/W5
https://doi.org/10.5194/isprs-annals-IV-2-W5-381-2019
https://doi.org/10.5194/isprs-annals-IV-2-W5-381-2019
29 May 2019
 | 29 May 2019

MOBILE MAPPING OF THE LA CORONA LAVATUBE ON LANZAROTE

H. A. Lauterbach, D. Borrmann, A. Nüchter, A. P. Rossi, V. Unnithan, P. Torrese, and R. Pozzobon

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.