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Integration of TLS and UAV data for the generation of a three-dimensional basemap

Klapa Przemysław, Mitka Bartosz, Zygmunt Mariusz

Advances in Geodesy and Geoinformation

2022

Vol. 71, no. 2

art. no. e27, 2022

3D maps are becoming more and more popular due not only to their accessibility and clarity of reception, but above all, they provide comprehensive spatial information. Three-dimensional cartographic studies meet the accuracy requirements set for traditional 2D stu-dies, and additionally, they naturally connect the place where the phenomenon occurs with its spatial location. Due to the scale of the objects and difficulties in obtaining comprehensive data using only one source, a frequent procedure is to integrate measurement, cartographic, photo-grammetric information and databases in order to generate a comprehensive study in the form of a 3D map. This paper presents the method of acquiring and processing, as well as, integrating data from TLS and UAVs. Clouds of points representing places and objects are the starting point for the implementation of 3D models of buildings and technical objects, as well as for the con-struction of the Digital Terrain Model. However, in order to supplement the spatial information about the object, the geodetic database of the record of the utilities network was integrated with the model. The procedure performed with the use of common georeferencing, based on the global coordinate system, allowed for the generation of a comprehensive basemap in a three-dimensional form.

Unmanned Aerial Vehicles for Three‑dimensional Mapping and Change Detection Analysis

Gbopa Adetola Olufunmilayo, Ayodele Emmanuel Gbenga, Okolie Chukwuma John, Ajayi Akinwumi Olaitan, Iheaturu Chima Jude

Geomatics and Environmental Engineering

2021

Vol. 15, no. 1

41--61

Unmanned Aerial Vehicles (UAVs), commonly known as drones are increasingly being used for three dimensional (3D) mapping of the environment. This study utilised UAV technology to produce a revised 3D map of the University of Lagos as well as land cover change detection analysis. A DJI Phantom 4 UAV was used to collect digital images at a flying height of 90 m, and 75% fore and 65% side overlaps. Ground control points (GCPs) for orthophoto rectification were coordinated with a Trimble R8 Global Navigation Satellite System. Pix4D Mapper was used to produce a digital terrain model and an orthophoto at a ground sampling distance of 4.36 cm. The change detection analysis, using the 2015 base map as reference, revealed a significant change in the land cover such as an increase of 16,306.7 m2 in buildings between 2015 and 2019. The root mean square error analysis performed using 7 GCPs showed a horizontal and vertical accuracy of 0.183 m and 0.157 m respectively. This suggests a high level of accuracy, which is adequate for 3D mapping and change detection analysis at a sustainable cost.

Nowe algorytmy 6DSLAM w zastosowaniu do zrobotyzowanego mobilnego systemu mapowania 3D

Będkowski J., Röhling T., Hoeller F., Schulz D., Schneider F. E.

Prace Naukowe Politechniki Warszawskiej. Elektronika

2016

z. 195, t. 2

407--416

Referat przedstawia nowe algorytmy 6DSLAM w zastosowaniu do zrobotyzowanego mobilnego systemu mapowania 3D. W ramach pracy nad systemem mapowania opracowano architekturę algorytmu 6DSLAM umożliwiającą zastosowanie różnych technik rejestracji danych. Algorytm składa się z modułu iteracyjnej rejestracji danych, przy czym zaimplementowano następujące metody ICP (ang. Iterative Closest Point). ICP punkt do rzutu punktu (ang. ICP point to projection), ICP wykorzystujące semantyczną dyskryminację punktów (semantic ICP), LS3D (ang. Least Square Surface Matching). NDT (ang. Normal Distributions Transform). Algorytm realizuje także zagadnienie zamknięcia pętli za pomocą metod LUM oraz LS3D. Wprowadzono autorską modyfikację metody LUM poprzez implementację różnych technik wyznaczania najbliższych sąsiadów w tym punkt do punktu, punkt do rzutu a także wykorzystujące semantyczną dyskryminację punktów. Implementacje oparto o modyfikację istniejących rozwiązań: 3DTK oraz PCL oraz o autorską implementację wykorzystującą obliczenia równolegle z zastosowaniem biblioteki NVIDIA CUDA 7.5. Przedstawiono eksperymenty weryfikujące zasadność zastosowania poszczególnych metod biorąc pod uwagę praktyczne zastosowania.

This work concerns new 6DSLAM algorithms with application of robotic mobile 3D mapping system. New architecture of 6DSLAM algorithm is designed to make possible reconfigure algorithm for different registration techniques. Algorithm is composed of iterative registration component, thus ICP (Iterative Closest Point), ICP (point to projection). ICP with semantic discrimination of points, LS3D (Least Square Surface Matching), NDT (Normal Distribution Transform) can be chosen. Loop closing is based on LUM and LS3D. New modification of LUM method is proposed, thus it is based on novel nearest neighbourhood search implementations such as point to point, point to projection, semantic discrimination of points. Implementation is based on modified 3DTK and PCL frameworks and novel parallel programming techniques using NVIDIA CUDA 7.5. Paper shows experiments that are demonstrating advantages of proposed approach in relation to practical applications.