Next Article in Journal
Greening and Browning of the Hexi Corridor in Northwest China: Spatial Patterns and Responses to Climatic Variability and Anthropogenic Drivers
Previous Article in Journal
Linking Heat Source–Sink Landscape Patterns with Analysis of Urban Heat Islands: Study on the Fast-Growing Zhengzhou City in Central China
Previous Article in Special Issue
Extrinsic Calibration of 2D Laser Rangefinders Based on a Mobile Sphere
Article Menu
Issue 8 (August) cover image

Export Article

Open AccessArticle
Remote Sens. 2018, 10(8), 1269; https://doi.org/10.3390/rs10081269

Panoramic Image and Three-Axis Laser Scanner Integrated Approach for Indoor 3D Mapping

1
School of Remote Sensing and Information Engineering, Wuhan University, No. 129, Luoyu Road, Wuhan 430079, China
2
School of Cyber Science and Engineering, Wuhan University, No. 129, Luoyu Road, Wuhan 430079, China
3
State Key Laboratory of Information Engineering in Surveying, Mapping, and Remote Sensing, Wuhan University, No. 129, Luoyu Road, Wuhan 430079, China
*
Author to whom correspondence should be addressed.
Received: 7 June 2018 / Revised: 4 August 2018 / Accepted: 10 August 2018 / Published: 12 August 2018
(This article belongs to the Special Issue Mobile Laser Scanning)
View Full-Text   |   Download PDF [4517 KB, uploaded 12 August 2018]   |  

Abstract

High-precision indoor three-dimensional maps are a prerequisite for building information models, indoor location-based services, etc., but the indoor mapping solution is still in the stage of technological experiment and application scenario development. In this paper, indoor mapping equipment integrating a three-axis laser scanner and panoramic camera is designed, and the corresponding workflow and critical technologies are described. First, hardware design and software for controlling the operations and calibration of the spatial relationship between sensors are completed. Then, the trajectory of the carrier is evaluated by a simultaneous location and mapping framework, which includes reckoning of the real-time position and attitude of the carrier by a filter fusing the horizontally placed laser scanner data and inertial measurement data, as well as the global optimization by a closed-loop adjustment using a graph optimization algorithm. Finally, the 3D point clouds and panoramic images of the scene are reconstructed from two tilt-mounted laser scanners and the panoramic camera by synchronization of the position and attitude of the carrier. The experiment was carried out in a five-story library using the proposed prototype system; the results demonstrate accuracies of up to 3 cm for 2D maps, and up to 5 cm for 3D maps, and the produced point clouds and panoramic images can be utilized for modeling and further works related to large-scale indoor scenes. Therefore, the proposed system is an efficient and accurate solution for indoor 3D mapping. View Full-Text
Keywords: indoor mapping; slam; scene reconstruction; point cloud; panorama indoor mapping; slam; scene reconstruction; point cloud; panorama
Figures

Figure 1

This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).
SciFeed

Share & Cite This Article

MDPI and ACS Style

Zhao, P.; Hu, Q.; Wang, S.; Ai, M.; Mao, Q. Panoramic Image and Three-Axis Laser Scanner Integrated Approach for Indoor 3D Mapping. Remote Sens. 2018, 10, 1269.

Show more citation formats Show less citations formats

Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Related Articles

Article Metrics

Article Access Statistics

1

Comments

[Return to top]
Remote Sens. EISSN 2072-4292 Published by MDPI AG, Basel, Switzerland RSS E-Mail Table of Contents Alert
Back to Top