The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences
Download
Publications Copernicus
Download
Citation
Articles | Volume XLII-2/W3
https://doi.org/10.5194/isprs-archives-XLII-2-W3-543-2017
https://doi.org/10.5194/isprs-archives-XLII-2-W3-543-2017
23 Feb 2017
 | 23 Feb 2017

IMPROVING GOOGLE'S CARTOGRAPHER 3D MAPPING BY CONTINUOUS-TIME SLAM

A. Nüchter, M. Bleier, J. Schauer, and P. Janotta

Keywords: SLAM, trajectory optimization, backpack, personal laser scanner, 3D point clouds

Abstract. This paper shows how to use the result of Google's SLAM solution, called Cartographer, to bootstrap our continuous-time SLAM algorithm. The presented approach optimizes the consistency of the global point cloud, and thus improves on Google’s results. We use the algorithms and data from Google as input for our continuous-time SLAM software. We also successfully applied our software to a similar backpack system which delivers consistent 3D point clouds even in absence of an IMU.