The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences
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Articles | Volume XLIII-B1-2020
Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci., XLIII-B1-2020, 243–250, 2020
https://doi.org/10.5194/isprs-archives-XLIII-B1-2020-243-2020
Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci., XLIII-B1-2020, 243–250, 2020
https://doi.org/10.5194/isprs-archives-XLIII-B1-2020-243-2020

  06 Aug 2020

06 Aug 2020

A MODULAR MOBILE MAPPING PLATFORM FOR COMPLEX INDOOR AND OUTDOOR ENVIRONMENTS

I. Kalisperakis1, T. Mandilaras1, A. El Saer1, P. Stamatopoulou1, C. Stentoumis1, S. Bourou1, and L. Grammatikopoulos2 I. Kalisperakis et al.
  • 1up2metric P.C., Engineering - Research - Software Development, Michail Mela 21, GR-11521, Athens, Greece
  • 2Department of Surveying and Geoinformatics Engineering, University of West Attica, Ag. Spyridonos Str., Egaleo, GR-12243, Athens, Greece

Keywords: Mobile, Mapping, Laser Scanning, Lidar, Data fusion, Calibration, 3D reconstruction

Abstract. In this work we present the development of a prototype, mobile mapping platform with modular design and architecture that can be suitably modified to address effectively both outdoors and indoors environments. Our system is built on the Robotics Operation System (ROS) and utilizes multiple sensors to capture images, pointclouds and 3D motion trajectories. These include synchronized cameras with wide angle lenses, a lidar sensor, a GPS/IMU unit and a tracking optical sensor. We report on the individual components of the platform, it’s architecture, the integration and the calibration of its components, the fusion of all recorded data and provide initial 3D reconstruction results. The processing algorithms are based on existing implementations of SLAM (Simultaneous Localisation and Mapping) methods combined with SfM (Structure-from-Motion) for optimal estimations of orientations and 3D pointclouds. The scope of this work, which is part of an ongoing H2020 program, is to digitize the physical world, collect relevant spatial data and make digital copies available to experts and public for covering a wide range of needs; remote access and viewing, process, design, use in VR etc.