MOBILE PANORAMIC MAPPING USING CCD-LINE CAMERA AND LASERSCANNER WITH INTEGRATED POSITION AND ORIENTATION SYSTEM

Imaging Beyond the Pin-hole Camera. 12th Seminar on Theoretical Foundations of Computer Vision

计算机科学;物理学

R. Reulke ; A. Wehr ; D. Griesbach

Others  :  http://drops.dagstuhl.de/opus/volltexte/2005/294/pdf/04251.ReulkeRalf.Paper.294.pdf.pdf
PID  :  7282

学科分类：计算机科学（综合）

来源: CEUR

【 摘 要 】

The fusion of panoramic camera data with laser scanner data is a new approach and allows the combination of high-resolution imageand depth data. Application areas are city modelling, virtual reality and documentation of the cultural heritage. Panoramic recordingof image data is realized by a CCD-line, which is precisely rotated around the projection centre. In the case of other possiblemovements, the actual position of the projection centre and the view direction has to be measured. Linear moving panoramas e.g.along a wall are an interesting extension of such rotational panoramas. Here, the instantaneous position and orientation determinationcan be realized with an integrated navigation system comprising differential GPS and an inertial measurement unit. This paper investigates the combination of a panoramic camera and a laser scanner with a navigation system for indoor and outdoorapplications. First it will be reported about laboratory experiments, which were carried out to obtain valid parameters about thesurveying accuracy achievable with both sensors panoramic camera and laser scanner respectively. Then out door surveying resultsusing a position and orientation system as navigation sensor will be presented and discussed.