Mobile indoor mapping technologies: A review

Otero, Roi; Lagüela, S.; Garrido, Iván; Arias, Pedro

doi:10.1016/j.autcon.2020.103399

Cited by 72 publications

(50 citation statements)

References 11 publications

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“…Other range-based acquisitions were completed using the Zeb Revo RT system that is based on the SLAM technology. This relatively new technology has proven its efficiency also in the field of cultural heritage documentation as reported for example in (Chiabrando, Della Coletta, Sammartano, Spanò, & Spreafico, 2018;Otero, Lagüela, Garrido, & Arias, 2020;Tucci, Visintini, Bonora, & Parisi, 2018). Four different acquisitions were carried out performing closed-loop, as suggested by the best practices for using this system (Riisgaard & Blas, 2004) and testing different paths starting outdoor and covering indoor up to the higher accessible area.…”

Section: The Documentation Project and Field Acquisitionsmentioning

confidence: 99%

Documentation of a Complex Cultural Heritage Asset With Integrated Geomatic Survey: The Montanaro Bell Tower

Losè

Chiabrando

Novelli

et al. 2021

Proceedings ARQUEOLÓGICA 2.0 - 9th International Congress &Amp; 3rd GEORES - GEOmatics and pREServation

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The research activities presented in this manuscript are focused on the documentation of a valuable built heritage asset: the Santa Marta bell tower (1769-1772), designed by the Italian architect Bernardo Antonio Vittone and located in the municipality of Montanaro (30 km North-East of Turin, Italy). The documentation of this complex palimpsest was designed to meet the requirements of the decay analysis and to provide a reference for the future restoration and valorisation project. To achieve these objectives a multi-scale and multi-sensor survey was designed and carried out exploiting several geomatics techniques (both range and image based). The fieldwork activities were firstly dedicated to the creation and measurement of a reference topographic network to be used as common local reference system for all the acquisitions as well as a series of control points (both inside and outside the bell towe) to be used for data orientation and accuracy assessment. Secondly, the exterior of the bell tower and its surroundings were imaged by means of an Unmanned Aerial Vehicle (UAV) and a set of Terrestrial Laser Scanning (TLS) acquisitions. The interior of the bell tower was sensed with two different rapid mapping approaches: using a handheld laser scanner based on the Simultaneous Localisation And Mapping (SLAM) technology and two different 360° cameras. All the acquired data were processed following both consolidated and experimental approaches and then integrated to generate traditional 2D architectural drawings supported by added value metric products. Of particular interest are the tests connected with the processing of the SLAM data and 360° images using a spherical photogrammetric approach that delivered preliminar encouraging results.

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Section: The Documentation Project and Field Acquisitionsmentioning

confidence: 99%

Documentation of a Complex Cultural Heritage Asset With Integrated Geomatic Survey: The Montanaro Bell Tower

Losè

Chiabrando

Novelli

et al. 2021

Proceedings ARQUEOLÓGICA 2.0 - 9th International Congress &Amp; 3rd GEORES - GEOmatics and pREServation

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“…The goal of this paper is not to present a complete summary of mobile agents’ navigation, but to focus on the discussions of multiple sensors’ fusion methods in mobile agents’ indoor navigation. In spite of several recent publications on related work [ 14 , 15 ], this work is obviously different from them, in that we focus on the multi-sensor fusion methods rather than a discussion of positioning [ 14 ], mapping, and way finding [ 15 ]. Namely, we focus on the discussion of sensors’ functionalities and the fusion methods of them in navigation rather than pure algorithms or the navigation task.…”

Section: Introductionmentioning

confidence: 99%

An Outline of Multi-Sensor Fusion Methods for Mobile Agents Indoor Navigation

Yang

Zhang

et al. 2021

Sensors

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Indoor autonomous navigation refers to the perception and exploration abilities of mobile agents in unknown indoor environments with the help of various sensors. It is the basic and one of the most important functions of mobile agents. In spite of the high performance of the single-sensor navigation method, multi-sensor fusion methods still potentially improve the perception and navigation abilities of mobile agents. This work summarizes the multi-sensor fusion methods for mobile agents’ navigation by: (1) analyzing and comparing the advantages and disadvantages of a single sensor in the task of navigation; (2) introducing the mainstream technologies of multi-sensor fusion methods, including various combinations of sensors and several widely recognized multi-modal sensor datasets. Finally, we discuss the possible technique trends of multi-sensor fusion methods, especially its technique challenges in practical navigation environments.

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“…Simultaneous localization and mapping (SLAM) techniques are an efficient alternative for the computation of the trajectory but do not guarantee the precision required in applications such as quality control during construction works. The reason is that most MLS systems are equipped with low-cost and lower performance laser devices in order to cope with the weight requirements [23], such as Velodyne HDL-32 or Hokuyo UTM in Zeb-Revo system, that present maximum nominal precision between 2 and 3 cm [24], not comparable with the millimetre-precision of TLS systems [25]. Di Filippo et al [21] use a MLS to create the 3D models of existing buildings in a short time.…”

Section: Introductionmentioning

confidence: 99%

“…Regarding user intervention with MLS, the systems in the market that are adequate for indoor mapping require to be pushed or carried by the user [23]. Thus, their use is limited in scenarios with elements of risk such as obstacles and hanging pieces, as well as in difficult-access areas.…”

Section: Introductionmentioning

confidence: 99%

Automatic Point-Cloud Registration for Quality Control in Building Works

et al. 2021

Self Cite

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Total and automatic digitalization of indoor spaces in 3D implies a great advance in building maintenance and construction tasks, which currently require visits and manual works. Terrestrial laser scanners (TLS) have been widely used for these tasks, although the acquisition methodology with TLS systems is time consuming, and each point cloud is acquired in a different coordinate system, so the user has to post-process the data to clean and get a unique point cloud of the whole scenario. This paper presents a solution for the automatic data acquisition and registration of point clouds from indoor scenes, designed for point clouds acquired with a terrestrial laser scanner (TLS) mounted on an unmanned ground vehicle (UGV). The methodology developed allows the generation of one complete dense 3D point cloud consisting of the acquired point clouds registered in the same coordinate system, reaching an accuracy below 1 cm in section dimensions and below 1.5 cm in walls thickness, which makes it valid for quality control in building works. Two different study cases corresponding to building works were chosen for the validation of the method, showing the applicability of the methodology developed for tasks related to the control of the evolution of the construction.

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Mobile indoor mapping technologies: A review

Cited by 72 publications

References 11 publications

Documentation of a Complex Cultural Heritage Asset With Integrated Geomatic Survey: The Montanaro Bell Tower

Documentation of a Complex Cultural Heritage Asset With Integrated Geomatic Survey: The Montanaro Bell Tower

An Outline of Multi-Sensor Fusion Methods for Mobile Agents Indoor Navigation

Automatic Point-Cloud Registration for Quality Control in Building Works

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