Abstract
Abstract. The use of moving devices equipped with range- and image-based sensor, generically defined Mobile Mapping systems (MMS), have been quite a disruptive innovation in the development of Geomatics techniques for 3D surveying large indoor-outdoor spaces and offer multiple solutions. The recent expansion of portable devices in the form of trolleys, backpacks, handheld tools largely implements SLAM (Simultaneous Localization and Mapping) algorithms and technology based on both Lidar and/or visual solutions for answering to the positioning and the 3D reconstruction problems. The research on MMS is directed to improve both multi-sensor integration implementation and usability of systems in diversified use contexts and application fields. The aim of the presented research is the evaluation of the potential of the Swift system recently developed by FARO Technologies, that has been fine-tuned for regular and large extent interiors mapping (such as factories, hospitals, airports, offices). The work tries to preliminary investigate the data delivery and usability of the integrated system. This is based on three elements mounted on a sliding trolley moved by the operator walking: the ScanPlan profilometer working for the 2D SLAM mapping, the static TLS Focus S-series, and the smartphone managing the sensors operation and the acquisition progress. The evaluation strategy undertaken will be based on the global and local performance analysis related to the trajectory, the data accuracy, the metric content and consistency. Two test studies belonging to the 20th century. architecture are presented in a preliminary framework of evaluation and validation: a Liberty-style cinema and the Torino Esposizioni Hall B designed in ferrocement by pier Luigi Nervi.
Highlights
The use of 3D models and geospatial data derived from dense clouds by applying geomatic techniques has certainly undergone rapid development and increasingly widespread use in many fields of application
After a brief overview of the latest innovations on systems capable of conducting rapid data acquisitions, especially in mobile configuration, the study will introduce the use of a new device, which has been tested in two selected cases in order to highlight the advantages and any critical issues of use
The evaluation strategy undertaken is based on a double analysis, from a global- and a local-scale metric assessment, as frequently conducted by research works in case of SLAM mobile mapping acquisitions typically affected by a double trend behaviour (Nocerino et al, 2017; Sammartano & Spanò, 2018; Toschi et al, 2015; Tucci et al, 2018)
Summary
The use of 3D models and geospatial data derived from dense clouds by applying geomatic techniques has certainly undergone rapid development and increasingly widespread use in many fields of application. Thanks to the geometric characterization of the setting, the system is able both to estimate the movement of the sensor and the progressive alignment of 3D clouds data of the mapped space according to an Iterative Closest Point (ICP) algorithm These systems have been studied and tested in many different fields of applications, in indoor and outdoor environments in comparison with more consolidated methods (Masiero et al, 2017; Nocerino et al, 2017; Sammartano & Spanò, 2018; Tucci et al, 2018). Manageability and rapidity in acquisition for 3D reconstruction of complex scenes are pursued by traditional TLS (Terrestrial laser scanning) solutions that are able to speed up the cloud registration using an automated targetless field registration based on VIS (Visual Inertial System) technology (Fuentes-Pacheco et al, 2012) In this rich and complex scenario with very many different and end-user-oriented solutions, the new Swift scanner cart integrated system by FARO Technologies, is fine-tuned for repetitive vast indoor environments. The paper focuses on some tests in complex and challenging environments with the purpose to evaluate the effectiveness of the new system based on SLAM technology too
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