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Evaluation of a mobile multi-sensor system for seamless outdoor and indoor mapping

Iwaszczuk, Dorota and Koppanyi, Z. and Pfrang, J. and Toth, C. (2019):
Evaluation of a mobile multi-sensor system for seamless outdoor and indoor mapping.
XLII-1/W2, Warsaw, In: Evaluation and Benchmarking Sensors, Systems and Geospatial Data in Photogrammetry and Remote Sensing, Warsaw, 16-17 September 2019, pp. 31-35, [Online-Edition: https://doi.org/10.5194/isprs-archives-XLII-1-W2-31-2019],
[Conference or Workshop Item]

Abstract

Indoor mapping has been gaining importance recently. One of the main applications of indoor maps is personal navigation. For this application, the connection to the outdoor map is very important, as users typically enter the building from outside and navigate to their destination inside. Obtaining this connection, however, is challenging, as the georeferencing of indoor maps is difficult due to the weak or total lack of GPS signal which makes positioning impossible in general. One solution for this problem could be matching indoor and outdoor datasets. Unfortunately, this is difficult due to the very low or non-existing overlap between the indoor and outdoor datasets as well as the differences in different. To overcome this problem, we propose a mobile mapping system, which can seamlessly capture the outdoor and indoor scene. Our prototype system contains three laser scanners, six RGB cameras, two GPS receivers and one IMU. In this paper, we propose an approach to seamlessly map a building and define the requirements for the mapping system. We primarily describe the construction phase of this system. Finally, we evaluate the performance of our mapping system with regard to the defined requirements.

Item Type: Conference or Workshop Item
Erschienen: 2019
Creators: Iwaszczuk, Dorota and Koppanyi, Z. and Pfrang, J. and Toth, C.
Title: Evaluation of a mobile multi-sensor system for seamless outdoor and indoor mapping
Language: English
Abstract:

Indoor mapping has been gaining importance recently. One of the main applications of indoor maps is personal navigation. For this application, the connection to the outdoor map is very important, as users typically enter the building from outside and navigate to their destination inside. Obtaining this connection, however, is challenging, as the georeferencing of indoor maps is difficult due to the weak or total lack of GPS signal which makes positioning impossible in general. One solution for this problem could be matching indoor and outdoor datasets. Unfortunately, this is difficult due to the very low or non-existing overlap between the indoor and outdoor datasets as well as the differences in different. To overcome this problem, we propose a mobile mapping system, which can seamlessly capture the outdoor and indoor scene. Our prototype system contains three laser scanners, six RGB cameras, two GPS receivers and one IMU. In this paper, we propose an approach to seamlessly map a building and define the requirements for the mapping system. We primarily describe the construction phase of this system. Finally, we evaluate the performance of our mapping system with regard to the defined requirements.

Volume: XLII-1/W2
Place of Publication: Warsaw
Uncontrolled Keywords: Mapping, Indoor, Calibration, LiDAR, Coregistration, Sensor system
Divisions: 13 Department of Civil and Environmental Engineering Sciences
13 Department of Civil and Environmental Engineering Sciences > Institute of Geodesy
13 Department of Civil and Environmental Engineering Sciences > Institute of Geodesy > Remote Sensing and Image Analysis
Event Title: Evaluation and Benchmarking Sensors, Systems and Geospatial Data in Photogrammetry and Remote Sensing
Event Location: Warsaw
Event Dates: 16-17 September 2019
Date Deposited: 04 Oct 2019 06:25
Official URL: https://doi.org/10.5194/isprs-archives-XLII-1-W2-31-2019
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