High Resolution Mapping Using CCD-line Camera and Laser Scanner with Integrated Position and Orientation System

Abstract

The fusion of panoramic data with laser scanner data is a new approach an allows the combination of high-resolution image and depth data. Application areas are city modeling, computer vision and documentation of the cultural heritage. Panoramic recording of image data is 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. Here, the instantaneous position and orientation determination can be realized with an integrated navigation system comprising differential GPS and an inertial measurement unit. This paper investigates the combination of a panoramic camera and a laser scanner with a navigation system for indoor and outdoor applications. First it will be reported about laboratory experiments which were carried out to abtain valid parameters about the surveying accuracy achievable with both sensors panoramic camera and laser scanner respectively. Then out door surveying results using a position and orientation system as navigation sensor will be presented and discussed.