Multimodal sensor-based semantic 3D mapping for a large-scale environment

The semantic labeling of the urban area is an essential but challenging task for a wide variety of applications such as mapping, navigation, and monitoring. The rapid advance in Light Detection and Ranging (LiDAR) systems provides this task with a possible solution using 3D point clouds, which are accessible, affordable, accurate, and applicable. Among all types of platforms, the airborne platform with LiDAR can serve as an efficient and effective tool for large-scale 3D mapping in the urban area. Against this background, a large number of algorithms and methods have been developed to fully explore the potential of 3D point clouds. However, the creation of publicly accessible large-scale annotated datasets, which are critical for assessing the performance of the developed algorithms and methods, is still at an early age. In this work, we present a large-scale aerial LiDAR point cloud dataset acquired in a highly-dense and complex urban area for the evaluation of semantic labeling methods. This dataset covers an urban area with highly-dense buildings of approximately 1 km2 and includes more than three million points with five classes of objects labeled. Moreover, experiments are carried out with the results from several baseline methods, demonstrating the feasibility and capability of the dataset serving as a benchmark for assessing semantic labeling methods.

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A FRAMEWORK FOR RELIABLE THREE-DIMENSIONAL UNDERGROUND UTILITY MAPPING FOR URBAN PLANNING

ISPRS - International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences ◽

10.5194/isprs-archives-xlii-4-w10-209-2018 ◽

2018 ◽

Vol XLII-4/W10 ◽

pp. 209-214 ◽

Cited By ~ 5

Author(s):

R. van Son ◽

S. W. Jaw ◽

J. Yan ◽

V. Khoo ◽

R. Loo ◽

...

Keyword(s):

Urban Planning ◽

High Speed ◽

Large Scale ◽

Three Dimensional ◽

Research Literature ◽

Three Dimensions ◽

3D Mapping ◽

Literature Study ◽

Underground Utilities ◽

Utility Services

<p><strong>Abstract.</strong> To optimise the use of limited available land, land-scarce cities such as Singapore are increasingly looking towards the underground in search of more space. A good understanding of what already exists underground is essential for the planning of underground spaces. In particular, utility services make up a significant part of what exists underground. To meet planning needs, the Singapore government has initiated efforts towards bringing records of existing utility networks together in a single database and share its contents to support planning, design, and construction of underground developments. However, these records can not be relied on to support these critical processes: They are not guaranteed to represent today’s state of the underground, are not accurate or of unknown accuracy, are inconsistently modelled, and may indicate as-design information instead of as-built information. This lack of reliability leads to an increase in cost and a loss in efficiency caused by the need to repeatedly survey to locate existing utility services on-site, and can have potentially disastrous outcomes when an excavation would damage existing services. Technological advances in utility surveying and mapping devices such as Ground Penetrating Radar (GPR) and gyroscopic pipeline mapping devices offer the potential of accurately mapping utilities in three dimensions (3D) at a large scale and high speed. However, a better understanding of the benefits and limitations of these technologies in a practical context is needed, as well as their suitability for mapping to support applications such as urban planning and land administration. The Digital Underground project is a collaboration between Singapore-ETH Centre, Singapore Land Authority and the City of Zürich that aims to develop a roadmap towards a reliable 3D utility map of Singapore. To enable the development of utility mapping standards and guidelines, the 3D mapping workflow for underground utilities is studied extensively based on market research, literature study, and case studies. This work presents the beginnings of a framework for 3D mapping of underground utilities as one of the initial results of the Digital Underground project as it is in progress. From these experiences, it can be concluded that, together with existing data, data captured using various surveying methods can indeed contribute to the establishment and maintenance of a consolidated and reliable utility map. To this end, a multi-sensor, multi-data 3D mapping workflow is proposed to integrate data captured using different surveying techniques during different moments in the development lifecycle of utilities. Based on this framework, this work also identifies areas for improvement and critical gaps to be bridged that will ultimately form part of the roadmap.</p>

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Panoramic Image and Three-Axis Laser Scanner Integrated Approach for Indoor 3D Mapping

Remote Sensing ◽

10.3390/rs10081269 ◽

2018 ◽

Vol 10 (8) ◽

pp. 1269 ◽

Cited By ~ 3

Author(s):

Pengcheng Zhao ◽

Qingwu Hu ◽

Shaohua Wang ◽

Mingyao Ai ◽

Qingzhou Mao

Keyword(s):

Large Scale ◽

Laser Scanner ◽

Measurement Data ◽

Point Clouds ◽

Location Based Services ◽

Prototype System ◽

3D Mapping ◽

Scenario Development ◽

3D Point Clouds ◽

Panoramic Images

High-precision indoor three-dimensional maps are a prerequisite for building information models, indoor location-based services, etc., but the indoor mapping solution is still in the stage of technological experiment and application scenario development. In this paper, indoor mapping equipment integrating a three-axis laser scanner and panoramic camera is designed, and the corresponding workflow and critical technologies are described. First, hardware design and software for controlling the operations and calibration of the spatial relationship between sensors are completed. Then, the trajectory of the carrier is evaluated by a simultaneous location and mapping framework, which includes reckoning of the real-time position and attitude of the carrier by a filter fusing the horizontally placed laser scanner data and inertial measurement data, as well as the global optimization by a closed-loop adjustment using a graph optimization algorithm. Finally, the 3D point clouds and panoramic images of the scene are reconstructed from two tilt-mounted laser scanners and the panoramic camera by synchronization of the position and attitude of the carrier. The experiment was carried out in a five-story library using the proposed prototype system; the results demonstrate accuracies of up to 3 cm for 2D maps, and up to 5 cm for 3D maps, and the produced point clouds and panoramic images can be utilized for modeling and further works related to large-scale indoor scenes. Therefore, the proposed system is an efficient and accurate solution for indoor 3D mapping.

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Large-Scale 3D Mapping of Subarctic Forests

Field and Service Robotics - Springer Proceedings in Advanced Robotics ◽

10.1007/978-981-15-9460-1_19 ◽

2021 ◽

pp. 261-275

Author(s):

Philippe Babin ◽

Philippe Dandurand ◽

Vladimír Kubelka ◽

Philippe Giguère ◽

François Pomerleau

Keyword(s):

Large Scale ◽

3D Mapping

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REAL: Rapid Exploration with Active Loop-Closing toward Large-Scale 3D Mapping using UAVs

10.1109/iros51168.2021.9636611 ◽

2021 ◽

Author(s):

Eungchang Mason Lee ◽

Junho Choi ◽

Hyungtae Lim ◽

Hyun Myung

Keyword(s):

Large Scale ◽

3D Mapping ◽

Loop Closing

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Integrated Geophysics and Geomatics Surveys in the Valley of the Kings

Sensors ◽

10.3390/s20061552 ◽

2020 ◽

Vol 20 (6) ◽

pp. 1552 ◽

Cited By ~ 2

Author(s):

Francesco Porcelli ◽

Luigi Sambuelli ◽

Cesare Comina ◽

Antonia Spanò ◽

Andrea Lingua ◽

...

Keyword(s):

Laser Scanning ◽

Large Scale ◽

Spatial Density ◽

3D Mapping ◽

Archaeological Heritage ◽

Geophysical Surveys ◽

Multi Temporal ◽

Close Range ◽

Ground Penetrating ◽

Invasive Techniques

Recent results within the framework of the collaborative project The Complete Geophysical Survey of the Valley of the Kings (VOK) (Luxor, Egypt) are reported in this article. In October 2018, a team of geomatics and geophysics researchers coordinated by the Polytechnic University of Turin worked side by side in the VOK. Topographic measurements in support of geophysical surveys and the achievement of a very large-scale 3D map of the Eastern VOK were the two main objectives of the geomatics campaign. Innovative 3D metric technologies and methods, based on terrestrial laser scanning (both static and mobile) and close-range photogrammetry were employed by the Geomatics team. The geophysical campaign focused on the acquisition of Electrical Resistivity Tomography (ERT), Ground Penetrating Radar (GPR) and high spatial density Geomagnetic (GM) data. ERT new data around KV62, both inverted in 2D sections and added to the previous ones to perform a new global 3D inversion, confirm the previous results showing both conductive and resistive anomalies that have to be explained. GPR timeslices showed some interesting features in the area in front of the KV2 entrance where GM gradient map also presents localized anomalies. In the area SSW of the KV2 the GM gradient maps evidenced also a large semicircular anomaly which, up to now, has no explanation. The potentialities of using magnetic techniques as a complement to other non-invasive techniques in the search for structures of archeological significance have been explored. The application of modern and innovative methods of 3D metric survey enabled to achieve a complete 3D mapping of what is currently visible in the valley. The integration of 2D/3D mapping data concerning visible elements and hypothetical anomalies, together with the recovering in the same global reference system of underground documentation pertaining to the Theban Mapping Project, prefigure the enhancement of multi-temporal site representation. This strategy enables the fruition development of the already discovered archaeological heritage, using modern criteria of valorization and conservation.

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