Abstract
In recent years, 3D surveying using mobile mapping has
become increasingly popular. Handheld or backpack
mounted systems resulted in new uses and
applications because they enable fast data
acquisition in areas that are difficult to
access. Many of these applications do not require
high-precision measurement, but they often involve
highly complex environments. In this paper, we
present a mobile mapping backpack based on four
Microsoft Kinect RGB-D sensors and an Intel T265
tracking camera. The data processing takes place in
three steps. Starting with a first trajectory and
map created using visual-inertial odometry, which is
subsequently optimized by means of a continuous-time
ICP. Finally, the trajectory is further improved by
a continuous-time SLAM approach. In this work, a
data set was recorded and analyzed in a bunker
facility with the system carried at a walking speed
of approximately 0.7 meters per second. For the
evaluation, these data are compared with a reference
data set, recorded with a Riegl VZ-400 laser
scanner.
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