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Toward Efficient 3-D Colored Mapping in GPS-/GNSS-Denied Environments | IEEE Journals & Magazine | IEEE Xplore

Toward Efficient 3-D Colored Mapping in GPS-/GNSS-Denied Environments

Publisher: IEEE

Abstract:

Efficient 3-D mapping provides useful and detailed 3-D data for many applications. In this letter, we present a multisensor calibration and mapping method, to provide hig...View more

Abstract:

Efficient 3-D mapping provides useful and detailed 3-D data for many applications. In this letter, we present a multisensor calibration and mapping method, to provide highly efficient and relatively accurate colored mapping for GPS-/global navigation satellite system-denied environments. The sensor data include 3-D laser scanning point clouds and camera images. A simultaneous localization and mapping (SLAM)-assisted calibration method is first proposed for multiple multibeam light detection and ranging (LiDAR) and multiple camera calibration. An improved SLAM method with loop closure is proposed for 3-D mapping. With the proposed calibration and mapping methods, centimeter-level colored point clouds can be obtained efficiently. The proposed method was tested with both backpacked and car-mounted systems on indoor and outdoor scenes. Experimental results show the effectiveness and efficiency of the proposed calibration and mapping methods.
Published in: IEEE Geoscience and Remote Sensing Letters ( Volume: 17, Issue: 1, January 2020)
Page(s): 147 - 151
Date of Publication: 14 June 2019

ISSN Information:

Publisher: IEEE

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