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Comparison of scanning strategies for the Small Mobile Mapping System

Comparison of scanning strategies for the Small Mobile Mapping System
File Size:
698.49 kB
Author:
Karol Majek, Janusz Będkowski
Date:
06 February 2015
Downloads:
10 x

Abstract:  In this paper two scanning strategies (stop-scan, continuous scanning) of Small Mobile Mapping System (SMMS) are discussed. SMMS registers 3D scans to provide accurate metric maps. This strategies have been implemented and evaluated in INDOOR environment. First is stop-scan fashion – SMMS stops, acquires data and moves forward to next position. The second approach is scan acquisition during motion. The data acquired in these approaches are registered using GPGPU ICP algorithm. As a result the comparison of the two registered point clouds with ground truth data is demonstrated.

Keywords: 3D scan matching, GPGPU ICP algorithm, Mobile Mapping System

Area: Mechanics, Automatics and Robotics

 
 

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