Abstract
Abstract. Existing indoor mapping systems have limitations in terms of time efficiency and flexibility in complex environments. While backpack and handheld systems are more flexible and can be used for mapping multi-storey buildings, in some application scenarios, e.g. emergency response, a light-weight indoor mapping eyewear or head-mounted system has practical advantages. In this paper, we investigate the spatial mapping capability of Microsoft Hololens mixed reality eyewear for 3D mapping of large indoor environments. We provide a geometric evaluation of 3D mesh data captured by the Hololens in terms of local precision, coverage, and global correctness in comparison with terrestrial laser scanner data and a reference 3D model. The results indicate the high efficiency and flexibility of Hololens for rapid mapping of relatively large indoor environments with high completeness and centimetre level accuracy.
Highlights
We provide a geometric evaluation of the acquired 3D data in terms of local precision, global correctness, and coverage, through comparison with terrestrial laser scanner data and a reference 3D model
The Hololens 3D mesh data was evaluated in terms of local precision, global correctness, and coverage. 4.1 Local Precision A total of 10 planar surfaces from across the Hololens mesh data was selected for plane fitting
The global correctness of the Hololens mesh was analysed through comparison with the laser scanner point cloud and the reference 3D model
Summary
The process of 3D reconstruction from imagery is largely automated thanks to recent developments in Structure from Motion (SfM) (Furukawa and Ponce, 2010) and dense matching (Hirschmuller, 2008) Both SfM and dense matching require rich texture and are challenged in environments with poorly textured surfaces (Khoshelham, 2018). Lehtola et al (2017) provide a comparison of several mobile indoor mapping systems These include trolley systems, backpack systems, and handheld sensors. Equipped with a suite of low-cost sensors including a depth camera, the Hololens is primarily designed to enable the user to interact with 3D graphical models, the so-called holograms, in a mixed reality experience.
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