Abstract
Abstract. Mobile Mapping Systems (MMS) are multi-sensor technologies based on SLAM procedure, which provides accurate 3D measurement and mapping of the environment as also trajectory estimation for autonomous navigation. The major limits of these algorithms are the navigation and mapping inconsistence over the time and the georeferencing of the products. These issues are particularly relevant for pose estimation regardless the environment like in seamless navigation. This paper is a preliminary analysis on a proposed multi-sensor platform integrated for indoor/outdoor seamless positioning system. In particular the work is devoted to analyze the performances of the MMS in term of positioning accuracy and to evaluate its improvement with the integration of GNSS and UWB technology. The results show that, if the GNSS and UWB signal are not degraded, using the correct weight to their observations in the Stencil estimation algorithm, is possible to obtain an improvement in the accuracy of the MMS navigation solution as also in the global consistency of the final point cloud. This improvement is measured in about 7 cm for planimetric coordinate and 34 cm along the elevation with respect to the use of the Stencil system alone.
Highlights
Over the last decade, advanced research in the field of geomatics, robotics and information technology has revealed the advantages of using multi-sensors technologies and integrated solutions for digital documentation of complex environments, in the form of accurate 3D models, useful for several applications
The analysis has been focused on the different procedure to georeferencing the mobile mapping data which relies on Global Navigation Satellite System (GNSS) technology outdoor and Ultra-Wideband systems (UWB) technology indoor
A time-synchronized trajectory has been obtained by GNSS receiver and UWB tag attached to the platform
Summary
Over the last decade, advanced research in the field of geomatics, robotics and information technology has revealed the advantages of using multi-sensors technologies and integrated solutions for digital documentation of complex environments, in the form of accurate 3D models, useful for several applications. The multi-sensor techniques based on photogrammetry and terrestrial laser scanning are common approaches for multiscale and multi-resolution environments (Gagliolo et al, 2018) These techniques, despite the ability to produce georeferenced and accurate three-dimensional models of the environment, often require time spending operations, concerning especially the planning of the surveys, manoeuvrability matters and the acquisition of control points for alignment (Bronzino et al, 2019). All these issues are carried out very well by mobile mapping systems (MMS) which collects highly precise point cloud data by means of a laser scanning system on moving platform integrated with aiding sensors for positioning and navigation (Puente et al, 2013). The data extracted from MMS consists of a three-dimensional map of the detected environment in the form of a dense point cloud whose accuracy and consistency strongly depends on the algorithms of data fusion and estimation of the trajectory travelled
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