Abstract
Following the pioneering work introduced in [Lehtola et al., ISPRS J. Photogramm. Remote Sens. 99, 2015, pp. 25–29], we extend the state-of-the-art intrinsic localization solution for a single two-dimensional (2D) laser scanner from one into (quasi) three dimensions (3D). By intrinsic localization, we mean that no external sensors are used to localize the scanner, such as inertial measurement devices (IMU) or global navigation satellite systems (GNSS). Specifically, the proposed method builds on a novel concept of local support-based filtering of outliers, which enables the use of six degrees-of-freedom (DoF) simultaneous localization and mapping (SLAM) for the purpose of enacting appropriate trajectory corrections into the previous one-dimensional solution. Moreover, the local support-based filtering concept is platform independent, and is therefore likely to be widely generalizable. The here presented overall method is yet limited into quasi-3D by its inability to recover trajectories with steep curvature, but in the future, it may be further extended into full 3D.
Highlights
Mobile laser scanning (MLS) enables dynamic and rapid data collection
We mean that no other sensor data is used, such as that from inertial measurement units (IMU) or global navigation satellite systems (GNSS)
The filtering has already proven to be quite effective, since it removed only about 5% of the total points, while both significantly improving the visual properties of the point cloud, and notably improving the functionality of the correction algorithm
Summary
Mobile laser scanning (MLS) enables dynamic and rapid data collection. The common problem is to solve accurate orientation of the scanner for all acquired 3D points. Many systems are relying on global navigation satellite systems (GNSS) and an inertial measurement unit (IMU) supported by, for instance, post-processing with a Kalman filter (El-Sheimy et al, 2006). GNSS is not feasible in all environments, making the localization of a mobile laser scanner without a reference coordinate system one of the persisting grand problems in laser scanning research. Any prominent solution is likely to enable applications in indoor environments, construction sites, and other areas that lack satellite coverage, such as urban canyons.
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