ZebedeeHand-held Mobile Mapping

Marriot Houston: Spar International 2012

Questacon: Science and Technology Museum

Australian National War Museum

Forest

WPI: Odeum Campus Center

Scanned 3 floors in 8min

Path taken - side view Path taken – overhead view

Plan of 3rd Floor

Room CRoom A+B

Hagglund Room

The blue line represents my path through the building.Note: that I did not enter the main room (A+B).

Stair well

Plan of 2nd floor

Book store

Stair well

QCAT: Wblock

Match Constraints

Smoothness Constraints

Optimization

Optimization Iteration 2

Optimization Iteration 3

Optimization Converged

Updated Points

Predict Next Sweep

Optimize again

Expanding Real-time PerceptionDigital World Real World

Semantic Information: Automation

Globally ConsistentReal-time Perception

Colourized range

Point-cloud Framework

Photogrammetry

10mm

10m

HyperspectralInfrared

SLAM for multi-model / multi-spectral data