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3D Mobile Mapping. Dave Henderson National Sales Manager IP-S2 / GIS Products Topcon Positioning Systems. Introduction. 3D Mobile Mapping Considerations for an emerging technology “ What’s in it for me ?”. Overview. Emergence of 3D Mobile Mapping Components Hardware / Software Sensors - PowerPoint PPT Presentation
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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
(214) 923-1910
http://www.topconpositioning.com/products/mapping-and-gis/mobile-mapping/
