In order to solve the automation of 3D indoor mapping task, a low cost multi-sensor robot laser scanning system is proposed in this paper. The multiple-sensor robot laser scanning system includes a panorama camera, a laser scanner, and an inertial measurement unit and etc., which are calibrated and synchronized together to achieve simultaneously collection of 3D indoor data. Experiments are undertaken in a typical indoor scene and the data generated by the proposed system are compared with ground truth data collected by a TLS scanner showing an accuracy of 99.2% below 0.25 meter, which explains the applicability and precision of the system in indoor mapping applications.
Chen, C., Zou, X., Tian, M., Li, J., Wu, W., Song, Y., … Yang, B. (2017). Low cost multi-sensor robot laser scanning system and its accuracy investigations for indoor mapping application. In International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences - ISPRS Archives (Vol. 42, pp. 83–85). International Society for Photogrammetry and Remote Sensing. https://doi.org/10.5194/isprs-archives-XLII-2-W8-83-2017