MOBILE MAPPING OF THE LA CORONA LAVATUBE ON LANZAROTE

Mobile mapping systems are becoming increasingly popular as they can build 3D models of the environment rapidly by using a laser scanner that is integrated with a navigation system. 3D mobile mapping has been widely used for applications such as 3D city modelling and mapping of the scanned environments. However, accurate mapping relies on not only the scanner’s performance but also on the quality of the navigation results (accuracy and robustness) . This paper discusses the potentials of using 3D mobile mapping systems for landscape change detection, that is traditionally carried out by terrestrial laser scanners that can be accurately geo-referenced at a static location to produce highly accurate dense point clouds. Yet compared to conventional surveying using terrestrial laser scanners, several advantages of mobile mapping systems can be identified. A large area can be monitored in a relatively short period, which enables high repeat frequency monitoring without having to set-up dedicated stations. However, current mobile mapping applications are limited by the quality of navigation results, especially in different environments. The change detection ability of mobile mapping systems is therefore significantly affected by the quality of the navigation results. This paper presents some data collected for the purpose of monitoring from a mobile platform. The datasets are analysed to address current potentials and difficulties. The change detection results are also presented based on the collected dataset. Results indicate the potentials of change detection using a mobile mapping system and suggestions to enhance quality and robustness.

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MONITORING CAPABILITIES OF A MOBILE MAPPING SYSTEM BASED ON NAVIGATION QUALITIES

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

10.5194/isprs-archives-xli-b1-625-2016 ◽

2016 ◽

Vol XLI-B1 ◽

pp. 625-631

Author(s):

H. Jing ◽

N. Slatcher ◽

X. Meng ◽

G. Hunter

Keyword(s):

Change Detection ◽

Point Clouds ◽

Mobile Mapping ◽

Mapping System ◽

Short Period ◽

Laser Scanners ◽

Mobile Mapping System ◽

Mobile Mapping Systems ◽

Mapping Systems

Mobile mapping systems are becoming increasingly popular as they can build 3D models of the environment rapidly by using a laser scanner that is integrated with a navigation system. 3D mobile mapping has been widely used for applications such as 3D city modelling and mapping of the scanned environments. However, accurate mapping relies on not only the scanner’s performance but also on the quality of the navigation results (accuracy and robustness) . This paper discusses the potentials of using 3D mobile mapping systems for landscape change detection, that is traditionally carried out by terrestrial laser scanners that can be accurately geo-referenced at a static location to produce highly accurate dense point clouds. Yet compared to conventional surveying using terrestrial laser scanners, several advantages of mobile mapping systems can be identified. A large area can be monitored in a relatively short period, which enables high repeat frequency monitoring without having to set-up dedicated stations. However, current mobile mapping applications are limited by the quality of navigation results, especially in different environments. The change detection ability of mobile mapping systems is therefore significantly affected by the quality of the navigation results. This paper presents some data collected for the purpose of monitoring from a mobile platform. The datasets are analysed to address current potentials and difficulties. The change detection results are also presented based on the collected dataset. Results indicate the potentials of change detection using a mobile mapping system and suggestions to enhance quality and robustness.

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A MAN-PORTABLE, IMU-FREE MOBILE MAPPING SYSTEM

ISPRS Annals of Photogrammetry Remote Sensing and Spatial Information Sciences ◽

10.5194/isprsannals-ii-3-w5-17-2015 ◽

2015 ◽

Vol II-3/W5 ◽

pp. 17-23 ◽

Cited By ~ 7

Author(s):

A. Nüchter ◽

D. Borrmann ◽

P. Koch ◽

M. Kühn ◽

S. May

Keyword(s):

Laser Scanning ◽

Low Cost ◽

Laser Scanner ◽

Mobile Mapping ◽

Measurement Systems ◽

Mapping System ◽

Mobile Mapping System ◽

Mems Imu ◽

Mapping Solution ◽

Mapping Systems

Mobile mapping systems are commonly mounted on cars, ships and robots. The data is directly geo-referenced using GPS data and expensive IMU (inertial measurement systems). Driven by the need for flexible, indoor mapping systems we present an inexpensive mobile mapping solution that can be mounted on a backpack. It combines a horizontally mounted 2D profiler with a constantly spinning 3D laser scanner. The initial system featuring a low-cost MEMS IMU was revealed and demonstrated at <i>MoLaS: Technology Workshop Mobile Laser Scanning at Fraunhofer IPM</i> in Freiburg in November 2014. In this paper, we present an IMU-free solution.

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Performance Assessment of Mobile Laser Scanning Systems Using Velodyne Hdl-32e

Surveying and Geospatial Engineering Journal ◽

10.38094/sgej116 ◽

2021 ◽

Vol 1 (1) ◽

pp. 28-33

Author(s):

Bashar Alsadik

Keyword(s):

Laser Scanning ◽

Impact Analysis ◽

Orientation Angle ◽

Point Clouds ◽

Mobile Mapping ◽

Ongoing Research ◽

Mapping System ◽

Mobile Mapping System ◽

Mobile Mapping Systems ◽

Mapping Systems

Mapping systems using multi-beam LiDARs are widely used nowadays for different geospatial applications graduating from indoor projects to outdoor city-wide projects. These mobile mapping systems can be either ground-based or aerial-based systems and are mostly equipped with inertial navigation systems INS. The Velodyne HDL-32 LiDAR is a well-known 360° spinning multi-beam laser scanner that is widely used in outdoor and indoor mobile mapping systems. The performance of such LiDARs is an ongoing research topic which is quite important for the quality assurance and quality control topic. The performance of this LiDAR type is correlated to many factors either related to the device itself or the design of the mobile mapping system. Regarding design, most of the mapping systems are equipped with a single Velodyne HDL32 in a specific orientation angle which is different among the mapping systems manufacturers. The LiDAR orientation angle has a significant impact on the performance in terms of the density and coverage of the produced point clouds. Furthermore, during the lifetime of this multi-beam LiDAR, one or more beams may be defected and then either continue the production or returned to the manufacturer to be fixed which then cost time and money. In this paper, the design impact analysis of a mobile laser scanning (MLS) system equipped with a single Velodyne HDL-32E will be clarified and a clear relationship is given between the orientation angle of the LiDAR and the output density of points. The ideal angular orientation of a single Velodyne HDL-32E is found to be at 35° in a mobile mapping system. Furthermore, we investigated the degradation of points density when one of the 32 beams is defected and quantified the density loss percentage and to the best of our knowledge, this is not presented in literature before. It is found that a maximum of about 8% point density loss occurs on the ground and 4% on the facades when having a defected beam of the Velodyne HDL-32E.

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THEORETICAL ACCURACY PREDICTION AND VALIDATION OF LOW-END AND HIGH-END MOBILE MAPPING SYSTEM IN URBAN, RESIDENTIAL AND RURAL AREAS

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

10.5194/isprs-archives-xlii-2-w18-121-2019 ◽

2019 ◽

Vol XLII-2/W18 ◽

pp. 121-128 ◽

Cited By ~ 2

Author(s):

L. Mattheuwsen ◽

M. Bassier ◽

M. Vergauwen

Keyword(s):

Rural Areas ◽

Mobile Mapping ◽

Major Drawback ◽

Mapping System ◽

Accuracy Level ◽

Mobile Mapping System ◽

3D Information ◽

Mobile Mapping Systems ◽

Theoretical Accuracy ◽

Mapping Systems

Abstract. Mobile mapping systems are increasingly being used for the acquisition of 3D information of the environment. Although these systems are very efficient in data capturing compared to more traditional methods, the high cost of high-end accurate mobile mapping systems is a major drawback. In contrast, the much cheaper low-end mobile mapping systems are more frequently used for less accurate projects where visualization is more important. In general, the achievable accuracy level is the driving factor that differentiates low-end from high-end systems. To determine this value, the sensor quality, calibration and GNSS reception quality should be reliably evaluated.In this paper, we present a theoretical accuracy model of a mobile mapping system that takes into account variable GNSS accuracy. The predicted accuracy level of low-end and high-end mobile mapping systems is evaluated in a comprehensive accuracy analysis. The absolute accuracy of the system is determined in three datasets in which GNSS reception quality varies between optimal, good and poor. Additionally, the relative accuracy of both systems is checked by comparison of control distances. The presented approach allows for a more general and robust accuracy prediction of mobile mapping systems in different circumstances.

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SYSTEM DESIGN, CALIBRATION AND PERFORMANCE ANALYSIS OF A NOVEL 360° STEREO PANORAMIC MOBILE MAPPING SYSTEM

ISPRS Annals of Photogrammetry Remote Sensing and Spatial Information Sciences ◽

10.5194/isprs-annals-iv-1-w1-207-2017 ◽

2017 ◽

Vol IV-1/W1 ◽

pp. 207-213

Author(s):

S. Blaser ◽

S. Nebiker ◽

S. Cavegn

Keyword(s):

Calibration Procedure ◽

Mobile Mapping ◽

Camera Systems ◽

3D City Model ◽

Mapping System ◽

Mobile Mapping System ◽

City Model ◽

And Performance ◽

Mobile Mapping Systems ◽

Street Environment

Image-based mobile mapping systems enable the efficient acquisition of georeferenced image sequences, which can later be exploited in cloud-based 3D geoinformation services. In order to provide a 360° coverage with accurate 3D measuring capabilities, we present a novel 360° stereo panoramic camera configuration. By using two 360° panorama cameras tilted forward and backward in combination with conventional forward and backward looking stereo camera systems, we achieve a full 360° multi-stereo coverage. We furthermore developed a fully operational new mobile mapping system based on our proposed approach, which fulfils our high accuracy requirements. We successfully implemented a rigorous sensor and system calibration procedure, which allows calibrating all stereo systems with a superior accuracy compared to that of previous work. Our study delivered absolute 3D point accuracies in the range of 4 to 6 cm and relative accuracies of 3D distances in the range of 1 to 3 cm. These results were achieved in a challenging urban area. Furthermore, we automatically reconstructed a 3D city model of our study area by employing all captured and georeferenced mobile mapping imagery. The result is a very high detailed and almost complete 3D city model of the street environment.

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Automatic Extrinsic Self-Calibration of Mobile Mapping Systems Based on Geometric 3D Features

Remote Sensing ◽

10.3390/rs11161955 ◽

2019 ◽

Vol 11 (16) ◽

pp. 1955 ◽

Cited By ~ 4

Author(s):

Markus Hillemann ◽

Martin Weinmann ◽

Markus S. Mueller ◽

Boris Jutzi

Keyword(s):

Spatial Data ◽

Point Cloud ◽

Laser Scanner ◽

The Self ◽

Geometric Features ◽

Mobile Mapping ◽

Extrinsic Calibration ◽

Self Calibration ◽

Mobile Mapping Systems ◽

Mapping Systems

Mobile Mapping is an efficient technology to acquire spatial data of the environment. The spatial data is fundamental for applications in crisis management, civil engineering or autonomous driving. The extrinsic calibration of the Mobile Mapping System is a decisive factor that affects the quality of the spatial data. Many existing extrinsic calibration approaches require the use of artificial targets in a time-consuming calibration procedure. Moreover, they are usually designed for a specific combination of sensors and are, thus, not universally applicable. We introduce a novel extrinsic self-calibration algorithm, which is fully automatic and completely data-driven. The fundamental assumption of the self-calibration is that the calibration parameters are estimated the best when the derived point cloud represents the real physical circumstances the best. The cost function we use to evaluate this is based on geometric features which rely on the 3D structure tensor derived from the local neighborhood of each point. We compare different cost functions based on geometric features and a cost function based on the Rényi quadratic entropy to evaluate the suitability for the self-calibration. Furthermore, we perform tests of the self-calibration on synthetic and two different real datasets. The real datasets differ in terms of the environment, the scale and the utilized sensors. We show that the self-calibration is able to extrinsically calibrate Mobile Mapping Systems with different combinations of mapping and pose estimation sensors such as a 2D laser scanner to a Motion Capture System and a 3D laser scanner to a stereo camera and ORB-SLAM2. For the first dataset, the parameters estimated by our self-calibration lead to a more accurate point cloud than two comparative approaches. For the second dataset, which has been acquired via a vehicle-based mobile mapping, our self-calibration achieves comparable results to a manually refined reference calibration, while it is universally applicable and fully automated.

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Validation of Portable Mobile Mapping System for Inspection Tasks in Thermal and Fluid–Mechanical Facilities

Remote Sensing ◽

10.3390/rs11192205 ◽

2019 ◽

Vol 11 (19) ◽

pp. 2205 ◽

Cited By ~ 1

Author(s):

Rodríguez-Martín ◽

Rodríguez-Gonzálvez ◽

Ruiz de Oña Crespo ◽

González-Aguilera

Keyword(s):

Three Dimensional ◽

Laser Scanner ◽

Ground Truth ◽

Mobile Mapping ◽

Industrial Facilities ◽

Starting Point ◽

Mapping System ◽

Mobile Mapping System ◽

Machine Room ◽

Inspection Tasks

The three-dimensional registration of industrial facilities has a great importance for maintenance, inspection, and safety tasks and it is a starting point for new improvements and expansions in the industrial facilities context. In this paper, a comparison between the results obtained using a novel portable mobile mapping system (PMMS) and a static terrestrial laser scanner (TLS), widely used for 3D reconstruction in civil and industrial scenarios, is carried out. This comparison is performed in the context of industrial inspection tasks, specifically in the thermal and fluid-mechanics facilities in a hospital. The comparison addresses the general reconstruction of a machine room, focusing on the quantitative and qualitative analysis of different elements (e.g., valves, regulation systems, burner systems and tanks, etc.). The validation of the PMMS is provided considering the TLS as ground truth and applying a robust statistical analysis. Results come to confirm the suitability of the PMMS to perform inspection tasks in industrial facilities.

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