Abstract
Abstract. Over the years, Mobile Mapping Systems (MMSs) have been widely applied to urban mapping, path management and monitoring and cyber city, etc. The key concept of mobile mapping is based on positioning technology and photogrammetry. In order to achieve the integration, multi-sensor integrated mapping technology has clearly established. In recent years, the robotic technology has been rapidly developed. The other mapping technology that is on the basis of low-cost sensor has generally used in robotic system, it is known as the Simultaneous Localization and Mapping (SLAM). The objective of this study is developed a prototype of indoor MMS for mobile mapping applications, especially to reduce the costs and enhance the efficiency of data collection and validation of direct georeferenced (DG) performance. The proposed indoor MMS is composed of a tactical grade Inertial Measurement Unit (IMU), the Kinect RGB-D sensor and light detection, ranging (LIDAR) and robot. In summary, this paper designs the payload for indoor MMS to generate the floor plan. In first session, it concentrates on comparing the different positioning algorithms in the indoor environment. Next, the indoor plans are generated by two sensors, Kinect RGB-D sensor LIDAR on robot. Moreover, the generated floor plan will compare with the known plan for both validation and verification.
Highlights
Mobile mapping refers to a means of collecting geospatial data using mapping sensors that are mounted on a mobile platform
This study proposes the data processing modules including integrated Position and Orientation System (POS) module, and visual base module
In order to evaluate the performance of indoor Mobile Mapping Systems (MMSs) result from different kinds of algorithms or sensors, the experiments is divided into two stages
Summary
Mobile mapping refers to a means of collecting geospatial data using mapping sensors that are mounted on a mobile platform. Because of the increasing demand for indoor accurate maps, the MMS is shifting to the phase, indoor environment This application is used in emergency, indoor navigation, Location Based Service (LBS), etc. The indoor environment is more difficult for localization To solve this problem, most of SLAM algorithms always use several types of sensors, such as camera, IMU, laser scanner and based on the robotic configuration. This study proposes the data processing modules including integrated Position and Orientation System (POS) module, and visual base module. Based on these approaches, we designs the payload for indoor MMS to generate the floor plan and compare to different sensors and positioning algorithms
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