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Open AccessArticle

Evaluation of a Backpack-Mounted 3D Mobile Scanning System

Intitute of Informatics VII–Robotics and Telematics, University of Würzburg, Am Hubland, 97074 Würzburg, Germany
Zentrum für Telematik, Allesgrundweg 12, 97218 Gerbrunn, Germany
Author to whom correspondence should be addressed.
Academic Editors: Randolph H. Wynne and Prasad S. Thenkabail
Remote Sens. 2015, 7(10), 13753-13781;
Received: 31 July 2015 / Revised: 8 September 2015 / Accepted: 23 September 2015 / Published: 21 October 2015
(This article belongs to the Special Issue Lidar/Laser Scanning in Urban Environments)
Recently, several backpack-mounted systems, also known as personal laser scanning systems, have been developed. They consist of laser scanners or cameras that are carried by a human operator to acquire measurements of the environment while walking. These systems were first designed to overcome the challenges of mapping indoor environments with doors and stairs. While the human operator inherently has the ability to open doors and to climb stairs, the flexible movements introduce irregularities of the trajectory to the system. To compete with other mapping systems, the accuracy of these systems has to be evaluated. In this paper, we present an extensive evaluation of our backpack mobile mapping system in indoor environments. It is shown that the system can deal with the normal human walking motion, but has problems with irregular jittering. Moreover, we demonstrate the applicability of the backpack in a suitable urban scenario. View Full-Text
Keywords: backpack mobile mapping; SLAM; mobile laser scanning; personal laser scanning; man-portable mapping backpack mobile mapping; SLAM; mobile laser scanning; personal laser scanning; man-portable mapping
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Lauterbach, H.A.; Borrmann, D.; Heß, R.; Eck, D.; Schilling, K.; Nüchter, A. Evaluation of a Backpack-Mounted 3D Mobile Scanning System. Remote Sens. 2015, 7, 13753-13781.

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