Abstract
Indoor navigation or positioning systems have been widely developed for Location-Based Services (LBS) applications and they come along with a keen demand of indoor floor plans for displaying results even improving the positioning performance. Generally, the floor plans produced by robot mapping focus on perceiving the environment to avoid obstacles and using the feature landmarks to update the robot position in the relative coordinate frame. These maps are not accurate enough to incorporate to the indoor positioning system. This study aims at developing Indoor Mobile Mapping System (Indoor MMS) and concentrates on generating the highly accurate floor plans based on the robot mapping technique using the portable, robot and Unmanned Aerial Vehicles (UAV) platform. The proposed portable mapping system prototype can be used in the chest package and the handheld approach. In order to evaluate and correct the generated floor plans from robot mapping techniques, this study builds the testing and calibration field using the outdoor control survey method implemented in the indoor environments. Based on control points and check points from control survey, this study presents the map rectification method that uses the affine transformation to solve the scale and deformation problems and also transfer the local coordinate system into world standard coordinate system. The preliminary results illustrate that the final version of the building floor plan reach 1 meter absolute positioning accuracy using the proposed mapping systems that combines with the novel map rectification approach proposed. These maps are well geo-referenced with world coordinate system thus it can be applied for future seamless navigation applications including indoor and outdoor scenarios.
Highlights
In the past few years, Mobile Mapping System (MMS) has been widely used in Geomatics engineering
In order to achieve the indoor MMS with more flexibility, this study proposes the two portable payloads for handheld approach and chest package to compare with other platforms
Based on the previous experiments, the results of the indoor MMS are divided into two sections: the first section focuses on comparing the map results with four indoor MMS platforms, robot, Unmanned Aerial Vehicles (UAV), handheld approach and chest package; the second section displays the indoor floor plans on Google Earth in global frame
Summary
In the past few years, Mobile Mapping System (MMS) has been widely used in Geomatics engineering. Using various mapping sensors, such as Light Detection And Ranging (LiDAR), camera and high resolution visible sensors, geospatial information can be acquired by a mobile platform. The UAV borne MMS applications concentrate on monitoring, security tasks, surveillance, and remote sensing (Eisenbeiss, 2004); UAVPhotogrammetry mapping systems provide the 3D geospatial data, and contribute to 3D model generation (Neitzel, 2012). Most UAV mapping systems incorporate the Global Positioning System/Inertial Navigation System (GPS/INS) and photogrammetric systems. With the rapid development of UAV, the mapping system is poised to move into high accuracy
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