Abstract
The acquisition of 3D geometric data from an aerial view implies a high number of advantages with respect to terrestrial acquisition, the greatest being that aerial view allows the acquisition of information from areas with no or difficult accessibility, such as roofs and tops of trees. If the aerial platform is copter-type, other advantages are present, such as the capability of displacement at very low-speed, allowing for a more detailed acquisition. This paper presents a novel Aerial 3D Mapping System based on a copter-type platform, where a 2D laser scanner is integrated with a GNSS sensor and an IMU for the generation of georeferenced 3D point clouds. The accuracy and precision of the system are evaluated through the measurement of geometries in the point clouds generated by the system, as well as through the geolocation of target points for which the real global coordinates are known.
Highlights
The availability of 3D point clouds from objects is a key aspect regarding their inventory and the performance of posterior geometric analysis and other types of analysis such as energy use in buildings [1, 2], presence and dimension of cracks in bridges and roads [3, 4], and presence of defects in smaller objects or elements such as welding [5].Point clouds can be generated using different methodologies and devices: on the one hand, photogrammetry techniques can be applied for the orientation of the images and the extraction of the 3D coordinates of the point represented by each pixel through the computation of the ray intersection [6]
This paper presents the development and integration of a novel Aerial 3D Mapping System, constituted by an aerial platform, copter-type, and a 2D laser scanner for the measurement of point coordinates in outdoor scenes
Orientation of the system is measured by an Inertial Measurement Units (IMU), which calculates the trajectory of the system in case GNSS signal is lost
Summary
Point clouds can be generated using different methodologies and devices: on the one hand, photogrammetry techniques can be applied for the orientation of the images and the extraction of the 3D coordinates of the point represented by each pixel through the computation of the ray intersection [6]. There is the possibility of performing the direct measurement of the 3D coordinates of points through the use of laser scanning devices. The two axes of rotation provoke the deviation of the laser ray emitted, which travels through the space, returning to the head after encountering an object. The result is directly the 3D coordinates of each point of the area around the position of the laser scanner [7, 8]
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