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
 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
Overview - Macro
Total Mapping Solution
 Rapid 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
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
Sensor Fusion
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
Accurate Navigation When GNSS is Obstructed
GNSS
Wheel
IMU
Encoder
Advanced Filtering
Technology
GNSS
IMU
Encoder
Filter
P
V
A
Sensor Fusion
GNSS Antenna
360° Camera
IMU
IP-S2
Laser Scanners
Cube Mount
Technology – Sensors
IP-S2 System Velodyne Scanner
Using the Data
Collection
Process
Visualization
GIS
Actionable Information
Command & Control
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.
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)
400 Mb
24,000 Mb
@ 2 meter distance spacing traveling at 40 mph
Image file size from camera will depend on speed
being traveled when set by distance more than time
(23.5 Gb)
Workflow – Post Processing
GNSS Rover Data
Post Processed
GNSS Data
GNSS Base Data
or CORS Data
Raw Inertial Data
(IMU)
Vehicle Odometry
Data (DMI)
GNSS+INS Post Processing
Forwards and Backward
trajectory computation
Workflow – Point Cloud & Image Generation
Raw Image Data (PGR)
Stitched Spherical Images
GNSS+INS Post Processing
Forwards and Backward
trajectory computation
Raw LiDar Data
Point Cloud Data
Workflow – Image Alignment / Pose
Raw Image Data (PGR)
Stitched Spherical Images
Point Cloud Data
GNSS+INS Post Processing
Forwards and Backward
trajectory computation
Realistic Environment
Deliverables
GIS Shapefiles with Attributes
360o Images
Attributes
+
Point Cloud
Measurements
GIS Data
+
DBF
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
IP-S2 Applications
 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 Applications
 Roads / Streets / Highway Mapping
– 3D Surface Conditions
– Inventory Pavement conditions
– Change Detection over time
 Disaster response planning
 Railway Corridor Mapping
 Pipeline Mapping
Considerations?
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?
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/