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. Pozzobon4H. A. Lauterbach et al.H. A. Lauterbach1,D. Borrmann1,A. Nüchter1,A. P. Rossi2,V. Unnithan2,P. Torrese3,and R. Pozzobon4
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.