Toward Efficient 3-D Colored Mapping in GPS-/GNSS-Denied Environments
| العنوان: | Toward Efficient 3-D Colored Mapping in GPS-/GNSS-Denied Environments |
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| المؤلفون: | Yuhan Lian, Chenglu Wen, Jonathan Li, Cheng Wang, Jinbin Tan, Yan Xia, Yudi Dai |
| المصدر: | IEEE Geoscience and Remote Sensing Letters. 17:147-151 |
| بيانات النشر: | Institute of Electrical and Electronics Engineers (IEEE), 2020. |
| سنة النشر: | 2020 |
| مصطلحات موضوعية: | Laser scanning, business.industry, Computer science, Calibration (statistics), ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION, 0211 other engineering and technologies, Point cloud, Ranging, 02 engineering and technology, Simultaneous localization and mapping, Geotechnical Engineering and Engineering Geology, Lidar, Global Positioning System, Computer vision, Artificial intelligence, Electrical and Electronic Engineering, business, 021101 geological & geomatics engineering, Camera resectioning |
| الوصف: | 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. |
| تدمد: | 1558-0571 1545-598X |
| DOI: | 10.1109/lgrs.2019.2916844 |
| URL الوصول: | https://explore.openaire.eu/search/publication?articleId=doi_________::2fd7fc9d069217f4d0e4cb974401b95e https://doi.org/10.1109/lgrs.2019.2916844 |
| Rights: | CLOSED |
| رقم الانضمام: | edsair.doi...........2fd7fc9d069217f4d0e4cb974401b95e |
| قاعدة البيانات: | OpenAIRE |
| تدمد: | 15580571 1545598X |
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| DOI: | 10.1109/lgrs.2019.2916844 |