%0 Conference Paper %1 LS2019 %A Lauterbach, H. A. %A Borrmann, D. %A Nüchter, A. %A Rossi, A. P. %A Unnithan, V. %A Torrese, P. %A Pozzobon, R. %B Proceedings of the ISPRS Geospatial Week 2019, Laserscanning 2019 %C Enschede, Netherlands %D 2019 %K myown %P 381--387 %R 10.5194/isprs-annals-IV-2-W5-381-2019 %T Mobile mapping of the La Corona lavatube on Lanzarote %U https://robotik.informatik.uni-wuerzburg.de/telematics/download/ls2019.pdf %X Planetary surfaces consist of rough terrain and cave-like environments. Future planetary exploration demands for accurate mapping. However, recent backpack mobile mapping systems are mostly tested in structured, indoor environments. This paper evaluates the use of a backpack mobile mapping system in a cave-like environment. The experiments demonstrate the abilities of an continuous-time optimization approach by mapping part of a lavatube of the La Corona volcano system on Lanzarote. We compare two strategies for trajectory estimation relying either on 2D or 3D laser scanners and show that a 3D laser scanner substantially improved the final results.

@inproceedings{LS2019, abstract = {Planetary surfaces consist of rough terrain and cave-like environments. Future planetary exploration demands for accurate mapping. However, recent backpack mobile mapping systems are mostly tested in structured, indoor environments. This paper evaluates the use of a backpack mobile mapping system in a cave-like environment. The experiments demonstrate the abilities of an continuous-time optimization approach by mapping part of a lavatube of the La Corona volcano system on Lanzarote. We compare two strategies for trajectory estimation relying either on 2D or 3D laser scanners and show that a 3D laser scanner substantially improved the final results.}, added-at = {2019-07-02T11:07:03.000+0200}, address = {Enschede, Netherlands}, author = {Lauterbach, H. A. and Borrmann, D. and N{\"u}chter, A. and Rossi, A. P. and Unnithan, V. and Torrese, P. and Pozzobon, R.}, biburl = {https://www.bibsonomy.org/bibtex/20462593d30271aa927dc408eaee29789/nuechter76}, booktitle = {Proceedings of the ISPRS Geospatial Week 2019, Laserscanning 2019}, doi = {10.5194/isprs-annals-IV-2-W5-381-2019}, interhash = {a894b741bb58f23dd0184eff15e1a561}, intrahash = {0462593d30271aa927dc408eaee29789}, keywords = {myown}, month = {June}, pages = {381--387}, series = {ISPRS Annals Photogrammetry and Remote Sensing, Spatial Inf. Sci., IV-2/W5}, timestamp = {2019-07-02T11:07:03.000+0200}, title = {Mobile mapping of the La Corona lavatube on Lanzarote}, url = {https://robotik.informatik.uni-wuerzburg.de/telematics/download/ls2019.pdf}, year = 2019 }