MOBILE MAPPING OF THE LA CORONA LAVATUBE ON LANZAROTE
- 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.