3d mobile mapping

3D Mobile Mapping3D Mobile Mapping

Dave Henderson

National Sales Manager IP-S2 / GIS Products

Topcon Positioning Systems

3D Mobile MappingConsiderations for an emerging technology

“What’s in it for me?”

Introduction

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)

Overview

Deliverables

Interoperability– Everyone can use the data!

Data Mining – Historical Value

How much data is too much?

Applications

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

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

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

Sensor Fusion

Accurate Navigation When GNSS is Obstructed

GNSS

IMUWheel

Encoder

Advanced Filtering

Filter

GNSS

IMU

Encoder

PPVVAA

Technology

GNSS Antenna

IMU

Laser Scanners

360° Camera

IP-S2

Cube Mount

Sensor Fusion

Technology – SensorsTechnology – Sensors

IP-S2 System Velodyne Scanner

Using the Data

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

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

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

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

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

Realistic Environment

DeliverablesGIS Shapefiles with Attributes

Attributes Measurements DBF+ +

360o Images GIS DataPoint Cloud

Deliverables

Image Export Options

• Individual lens frames

• 360° spherical stitched images

• .jpeg format

• .bmp format

• .avi format

Deliverables

Point Cloud•.LAS file format is a public file format for the interchange of LIDAR data

•Ascii.txt - common point cloud file format

Point Cloud – Mobile & Aerial Data

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

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

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?

3D Mobile Mapping Professional Services

Specifically for Pilot Project / Proof of Concept

Dave Henderson

Topcon Positioning Systems

Dhenderson@topcon.com

(214) 923-1910

http://www.topconpositioning.com/products/mapping-and-gis/mobile-mapping/