3D Mobile Mapping
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Transcript of 3D Mobile Mapping
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3D Mobile Mapping3D Mobile Mapping
Dave Henderson
National Sales Manager IP-S2 / GIS Products
Topcon Positioning Systems
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3D Mobile MappingConsiderations for an emerging technology
“What’s in it for me?”
Introduction
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Overview
Emergence of 3D Mobile Mapping
Components Hardware / Software– Sensors
Imaging – Contribution to information extraction for users– It really is worth “a thousand words”
(especially when it is geo-referenced)
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Overview
Deliverables
Interoperability– Everyone can use the data!
Data Mining – Historical Value
How much data is too much?
Applications
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Total Mapping SolutionRapid non invasive method of capturing 3D
positioning and video log data
Fast: Reduce weeks of data collection – Too a few hours
Efficient: High accuracy at roadway speeds
Safe: Map from a vehicle
– Not from the roadway
Overview - Macro
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Sensor Fusion - LIDAR
LIDAR – Scanner (LIght Detection And Ranging)
Same as aerial LIDAR, but oriented horizontally
Drive it instead of flying it
Consideration? Range
Target Reflectivity
Scan Rate / Per Sec.
FOV
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Various sensors are integrated to obtain an accurate position and orientation
GNSS Receiver Delivers the position information to the system
Latitude, Longitude and Altitude
IMU (Inertial Measurement Unit) Supplies accurate attitude data for the system
Roll, Pitch and Heading information
Vehicle Odometry information is obtained via external wheel speed sensors
Wheel speed sensors or also known as DMI (Distance Measurement Indicator) compute the vehicles wheel rotation to aid the vehicle positioning
Sensor Fusion
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Sensor Fusion
Accurate Navigation When GNSS is Obstructed
GNSS
IMUWheel
Encoder
Advanced Filtering
Filter
GNSS
IMU
Encoder
PPVVAA
Technology
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GNSS Antenna
IMU
Laser Scanners
360° Camera
IP-S2
Cube Mount
Sensor Fusion
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Technology – SensorsTechnology – Sensors
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IP-S2 System Velodyne Scanner
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Using the Data
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Laptop PC Connected via Ethernet and 1394b (FireWire)
Computer is required to ensure connectivity and health of all sensors as well as for data logging purposes.
Command & Control
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File Size(s)File Size(s)
SENSOR SIZE (Mb/Min) SIZE (Mb/Hour)
GNSS / Encoder / IMU 1.5 Mb 90 Mb
Laser Scanners (SICK LMS291 x3) 3.0 Mb 180 Mb
Camera (Ladybug3) @ 2 meter distance spacing traveling at 40 mph
400 Mb 24,000 Mb(23.5 Gb)
Image file size from camera will depend on speed being traveled when set by distance more than time
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Workflow – Post Processing Workflow – Post Processing
GNSS Rover Data
GNSS Base Dataor CORS Data
Post Processed GNSS Data
Raw Inertial Data(IMU)
Vehicle Odometry Data (DMI)
GNSS+INS Post Processing
Forwards and Backward trajectory computation
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Workflow – Point Cloud & Image GenerationWorkflow – Point Cloud & Image Generation
GNSS+INS Post Processing
Forwards and Backward trajectory computation
Raw Image Data (PGR)
Raw LiDar Data
Stitched Spherical Images
Point Cloud Data
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Workflow – Image Alignment / PoseWorkflow – Image Alignment / Pose
GNSS+INS Post Processing
Forwards and Backward trajectory computation
Raw Image Data (PGR) Stitched Spherical Images
Point Cloud Data
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Realistic Environment
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DeliverablesGIS Shapefiles with Attributes
Attributes Measurements DBF+ +
360o Images GIS DataPoint Cloud
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Deliverables
Image Export Options
• Individual lens frames
• 360° spherical stitched images
• .jpeg format
• .bmp format
• .avi format
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Deliverables
Point Cloud•.LAS file format is a public file format for the interchange of LIDAR data
•Ascii.txt - common point cloud file format
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Point Cloud – Mobile & Aerial Data
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Power Utility Mapping– ROW– Pole inventory / Joint Use Audit– Risk Management– QC– Vegetation Management
Infrastructure and Asset Management– Utility structure location– Condition– Compliance
• Regulatory/Safety/Environmental
IP-S2 ApplicationsIP-S2 Applications
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Roads / Streets / Highway Mapping– 3D Surface Conditions– Inventory Pavement conditions– Change Detection over time
Disaster response planning
Railway Corridor Mapping
Pipeline Mapping
IP-S2 ApplicationsIP-S2 Applications
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Is the solution complete – “Out-of-the Box”?(Hardware / Software)
How compact and mobile is the system?
Is the system scalable? - Add new sensors , as needed?
Considerations?
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3D Mobile Mapping Professional Services
Specifically for Pilot Project / Proof of Concept
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Dave Henderson
Topcon Positioning Systems
(214) 923-1910
http://www.topconpositioning.com/products/mapping-and-gis/mobile-mapping/