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《Acta Geodaetica et Cartographica Sinica》 2018-06
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Instantaneous 3D Mapping Method Based on Mobile LiDAR

ZHANG Aiwu;GONG Huili;Jiaguo QI;HU Shaoxing;XIAO Yang;Ministry of Education Key Laboratory of 3DInformation Acquisition and Application,Capital Normal University;Center for Global Change and Earth Observations,Michigan State University;School of Mechanical Engineering and Automation,Beihang University;  
An instantaneous three-dimensional mapping method was presented for mobile LiDAR.This method has been applied to indoor,outdoor and other environments.As the new intelligent method of digital photogrammetry based on machine vision,it solved the basic problem of self-localization and simultaneous mapping of mobile LiDAR without GPS and high precision IMU.As results,the differences between the method and the traditional method were analyzed;the self-calibration method of bore-sight angle errors were studied;Effective feature extraction algorithm by planeness and incremental mapping strategy were proposed;and an optimal adjustment algorithm was modeled.Finally,the method was testified by three different environmental mapping experiments.The results show that the method is applicable in many kinds of environments,no matter of structured or unstructured environments,indoor,outdoor or woodland,and horizontal mapping or vertical mapping.Requiring no data post-processing,the method can do instantaneous mapping.
【Fund】: NASA’s Land Cover and Land Use Program Grant(NNX15AD51G);; 国家自然科学基金(41571369);; 北京市自然科学自然基金(4162034);; 北京市长城学者计划(CIT&TCD20150323)~~
【CateGory Index】: P237
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