The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences
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Articles | Volume XLII-2/W8
https://doi.org/10.5194/isprs-archives-XLII-2-W8-83-2017
https://doi.org/10.5194/isprs-archives-XLII-2-W8-83-2017
13 Nov 2017
 | 13 Nov 2017

LOW COST MULTI-SENSOR ROBOT LASER SCANNING SYSTEM AND ITS ACCURACY INVESTIGATIONS FOR INDOOR MAPPING APPLICATION

C. Chen, X. Zou, M. Tian, J. Li, W. Wu, Y. Song, W. Dai, and B. Yang

Keywords: Indoor Mapping, Laser Scanning, Multi-sensor, Robot

Abstract. In order to solve the automation of 3D indoor mapping task, a low cost multi-sensor robot laser scanning system is proposed in this paper. The multiple-sensor robot laser scanning system includes a panorama camera, a laser scanner, and an inertial measurement unit and etc., which are calibrated and synchronized together to achieve simultaneously collection of 3D indoor data. Experiments are undertaken in a typical indoor scene and the data generated by the proposed system are compared with ground truth data collected by a TLS scanner showing an accuracy of 99.2% below 0.25 meter, which explains the applicability and precision of the system in indoor mapping applications.