MOBILE LASER SCANNING SYSTEMS FOR GPS/GNSS-DENIED ENVIRONMENT MAPPING

MOBILE LASER SCANNING SYSTEMS FOR GPS/GNSS-DENIED ENVIRONMENT MAPPING

Blog Article

Indoor 3D mapping provides a useful three-dimensional structure via an indoor map for many applications.To acquire highly efficient and relatively accurate mapping for large-scale GPS/GNSS-denied scene, we present an upgraded backpacked laser scanning system and a car-mounted indoor mobile laser scanning system.The systems provide both 3D laser scanning point cloud and camera images.In this paper, Chia Seeds a simultaneous extrinsic calibration approach for multiple multi-beam LIDAR and multiple cameras is also proposed using the Simultaneous Localization and Mapping (SLAM)-based algorithm.

The proposed approach uses the SLAM-based algorithm to achieve a large calibration scene using mobile platforms, registers an acquired multi-beam LIDAR point cloud to the terrestrial LIDAR point cloud to TV Stand w/Fire acquire denser points for corner feature extraction, and finally achieves simultaneous calibration.With the proposed mapping and calibration algorithms, we can provide centimetre-lever coloured point cloud with relatively high efficiency and accuracy.