E3S Web Conf.
Volume 206, 20202020 2nd International Conference on Geoscience and Environmental Chemistry (ICGEC 2020)
|Number of page(s)
|Geohydrology And Ocean Resources Exploration And Survey
|11 November 2020
Integration and evaluation of SLAM-based backpack mobile mapping system
1 College of Geodesy and Geomatics, Shandong University of Science and Technology, Qingdao 266000, Shandong, China
2 Wuhan haida cloud technology co., LTD. Wuhan 430000, Hubei, China
* Corresponding author: firstname.lastname@example.org
Mobile mapping is an efficient technology to acquire spatial data of the environment. As a supplement of vehicle-borne and air-borne methods, Backpack mobile mapping system (MMS) has a wide application prospect in indoor and underground space. High-precision positioning and attitude determination are the key to MMS. Usually, GNSS/INS integrated navigation system provides reliable pose information. However, in the GNSS-denied environments, there is no effective long-term positioning method. With the development of simultaneous localization and mapping (SLAM) algorithm, it provides a new solution for indoor mobile mapping. This paper develops a portable backpack mobile mapping system, which integrates multi-sensor such as LiDAR, IMU, GNSS and panoramic camera. The 3D laser SLAM algorithm is applied to the mobile mapping to realize the acquisition of geographic information data in various complex environments. The experimental results in typical indoor and outdoor scenes show that the system can achieve high-precision and efficient acquisition of 3D information, and the relative precision of point cloud is 2~4cm, which meets the requirements of scene mapping and reconstruction.
© The Authors, published by EDP Sciences, 2020
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