Mobile Panoramic Mapping Using CCD-line Camera and Laser Scanner with integrated Position and Orientation System

Abstract

The fusion of panoramic camera data with laser scanner data is a new approach and allows the combination of high-resolution image and depth data. Different applications are in the field of city computer vision application, as well as the documentation of the cultural heritage. Panoramic geometry will be realized by a CCD-line, which is precisely rotated around the projection centre. In the case of other possible movements, the actual position of the projection centre and the view direction has to be measured. Linear moving panoramas e.g. along a wall are an interesting extension of such rotational panoramas. The instantancous position and orientation determination can be realized with an inertial navigation system. This paper investigates the combination of a panoramic camera and a laser scanner with a navigation system for indoor and outdoor applications.