期刊
REMOTE SENSING
卷 7, 期 10, 页码 13753-13781出版社
MDPI
DOI: 10.3390/rs71013753
关键词
backpack mobile mapping; SLAM; mobile laser scanning; personal laser scanning; man-portable mapping
类别
资金
- German Research Foundation (DFG)
- University of Wurzburg
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.
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