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Mapping and 3d Modelling of Urban Environment Based on Lidar, Gps/imu and Image Data
| Content Provider | Semantic Scholar |
|---|---|
| Author | Gajdamowicz, Krzysztof Öhman, Daniel Horemuz, Milan Visimind Långgatan, Södra |
| Copyright Year | 2007 |
| Abstract | There are several ways to reconstruct the 3D coordinates in object space. A number of methods estimate the 3D information using active sensors such as laser scanners, rangefinders or radars. Other methods use passive sensors and image analysis. Mobile Mapping Systems (MMS) approach the problem of 3D mapping by mixing passive and active sensors with direct or indirect methods for geo-referencing. Unfortunately direct geo-referencing is not possible in some areas of urban or forest environment. This paper presents approach of direct geo-referencing based on inertial navigation system supported by image and range observations. Camera observations of points with known object coordinates provide positional as well as attitude support to IMU navigation. If common object points are visible on more than one image, it is possible to perform a bundle adjustment, where both camera and object positions can be computed. The main problem with bundle adjustment is generation of approximate coordinates. In the described approach the laser scanner observations were used. The position and orientation of laser scanner was determined by IMU supported by GPS. GPS usually has many outages in urban areas, therefore GPS/IMU combination does not provide position and orientation of laser scanner with sufficient precision. But this precision usually suffices for the generation of approximate coordinates for the bundle adjustment. This paper presents the preliminary results, outlines the algorithms and addresses the difficulties related to scene reconstruction, as well as image and inertial data analysis. |
| File Format | PDF HTM / HTML |
| Alternate Webpage(s) | http://www.isprs.org/proceedings/XXXVI/5-C55/papers/Gajdamowicz_Krzysztof-2.pdf |
| Alternate Webpage(s) | http://www.isprs.org/proceedings/XXXVI/5-C55/papers/gajdamowicz_krzysztof.pdf |
| Alternate Webpage(s) | https://www.isprs.org/proceedings/XXXVI/5-C55/papers/Gajdamowicz_Krzysztof-2.pdf |
| Language | English |
| Access Restriction | Open |
| Content Type | Text |
| Resource Type | Article |
