Volume XLII-2/W6
Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci., XLII-2/W6, 339-346, 2017
https://doi.org/10.5194/isprs-archives-XLII-2-W6-339-2017
© Author(s) 2017. This work is distributed under
the Creative Commons Attribution 4.0 License.
Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci., XLII-2/W6, 339-346, 2017
https://doi.org/10.5194/isprs-archives-XLII-2-W6-339-2017
© Author(s) 2017. This work is distributed under
the Creative Commons Attribution 4.0 License.

  24 Aug 2017

24 Aug 2017

A DISTRIBUTED ONLINE 3D-LIDAR MAPPING SYSTEM

J. Schmiemann1, H. Harms1, J. Schattenberg1, M. Becker2, S. Batzdorfer2, and L. Frerichs1 J. Schmiemann et al.
  • 1Institute of Mobile Machines and Commercial Vehicles, Technische Universität Braunschweig, Germany
  • 2Institute of Flight Guidance, Technische Universität Braunschweig, Germany

Keywords: Decentralized online LIDAR mapping, mobile ad-hoc networking, heterogeneous machine cluster

Abstract. In this paper we are presenting work done within the joint development project ANKommEn. It deals with the development of a highly automated robotic system for fast data acquisition in civil disaster scenarios. One of the main requirements is a versatile system, hence the concept embraces a machine cluster consisting of multiple fundamentally different robotic platforms. To cover a large variety of potential deployment scenarios, neither the absolute amount of participants, nor the precise individual layout of each platform shall be restricted within the conceptual design. Thus leading to a variety of special requirements, like onboard and online data processing capabilities for each individual participant and efficient data exchange structures, allowing reliable random data exchange between individual robots. We are demonstrating the functionality and performance by means of a distributed mapping system evaluated with real world data in a challenging urban and rural indoor/outdoor scenarios.