Implementation of a Low-Cost Mini-UAV Laser Scanning System

被引：0
|
作者：
Yang B. [1 ,2 ]
Li J. [1 ,2 ]
机构：
[1] State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, Wuhan
[2] Engineering Research Center for Spatio-Tempoal Data Smart Acquisition and Application, Ministry of Education, Wuhan University, Wuhan
来源：
Wuhan Daxue Xuebao (Xinxi Kexue Ban)/Geomatics and Information Science of Wuhan University | 2018年 / 43卷 / 12期
基金：
中国国家自然科学基金;
关键词：
3D mapping; Low-cost; Point cloud processing; UAV laser scanning; Ubiquitous point cloud;
D O I：
10.13203/j.whugis20180265
中图分类号：
学科分类号：
摘要：
Mini-UAV laser scanning system can be applied to the high precision earth observation, which is an active area in the field of mobile mapping. However, due to the limitation of payload and battery consumption of a mini-UAV (maximum payload is less than 5 kg), and the high cost of the sensors, a tradeoff must be made between cost, weight, and accuracy when designing of the mini-UAV laser scanning system. To realize the high precision and low-cost mobile mapping, this paper designs a low-cost mini-UAV laser scanning system: Luojia Kylin Cloud. This system contains several low-cost sensors, including MEMS (micro electro mechanical system) based IMU (inertial measurement unit), global shutter camera, wide angle lens and 16-line laser scanner. Firstly, this paper proposes an IMU aided bundle adjustment to improve the accuracy of the low-cost MEMS based IMU. Secondly, this paper proposes a boresight self-calibration algorithm for the laser scanner based on the consistence of the depth map generated by MVS(multi-view stereo) and projection of the laser measurement. At last, the laser point clouds are generated by using the estimated states a boresight parameters. To evaluate the accuracy of Luojia Kylin Cloud laser scanning system, study area in Wuhan University is selected for point cloud collection, and a lot of ground check points are measured. The result shows that the average error of the check points is 17.8 cm, which demonstrates the high accuracy and robustness of the proposed system. © 2018, Research and Development Office of Wuhan University. All right reserved.
引用
收藏
页码：1972 / 1978
页数：6
相关论文
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