1. 3D Mobile Mapping Dave Henderson Topcon Positioning Systems
National Sales Manager IP-S2 / GIS Products
Topcon Positioning Systems

2. Considerations for an emerging technology
Introduction
3D Mobile Mapping
Considerations for an emerging technology
“What’s in it for me?”

3. Emergence of 3D Mobile Mapping Components Hardware / Software
Overview
Emergence of 3D Mobile Mapping
Components Hardware / Software
Sensors
Imaging
Contribution to information extraction for users
It really is worth “a thousand words” (especially when it is geo-referenced)

4. Data Mining – Historical Value How much data is too much? Applications
Overview
Deliverables
Interoperability
Everyone can use the data!
Data Mining – Historical Value
How much data is too much?
Applications

5. Overview - Macro Total Mapping Solution – Not from the roadway
Rapid non invasive method of capturing 3D positioning and video log data
Fast: Reduce weeks of data collection
Too a few hours
Efficient: High accuracy at roadway speeds
Safe: Map from a vehicle
– Not from the roadway

6. LIDAR – Scanner (LIght Detection And Ranging)
Sensor Fusion - LIDAR
LIDAR – Scanner (LIght Detection And Ranging)
Same as aerial LIDAR, but oriented horizontally
Drive it instead of flying it
Consideration?
Range
Target Reflectivity
Scan Rate / Per Sec.
FOV

7. Sensor Fusion
Various sensors are integrated to obtain an accurate position and orientation
GNSS Receiver
Delivers the position information to the system
Latitude, Longitude and Altitude
IMU (Inertial Measurement Unit)
Supplies accurate attitude data for the system
Roll, Pitch and Heading information
Vehicle Odometry information is obtained via external wheel speed sensors
Wheel speed sensors or also known as DMI (Distance Measurement Indicator) compute the vehicles wheel rotation to aid the vehicle positioning

8. Accurate Navigation When GNSS is Obstructed
Sensor Fusion
Accurate Navigation When GNSS is Obstructed
GNSS
Wheel
Encoder
IMU
Advanced Filtering
Technology
GNSS P V A
IMU
Filter
Encoder

9. Sensor Fusion GNSS Antenna 360° Camera IMU IP-S2 Laser Scanners
Cube Mount

10. Technology – Sensors

12. IP-S2 System Velodyne Scanner

13. Using the Data Collection Process Visualization GIS
Actionable Information

14. Command & Control
Laptop PC Connected via Ethernet and 1394b (FireWire) Computer is required to ensure connectivity and health of all sensors as well as for data logging purposes.

15. File Size(s) SENSOR SIZE (Mb/Min) SIZE (Mb/Hour) GNSS / Encoder / IMU
Laser Scanners (SICK LMS291 x3)
3.0 Mb
180 Mb
Camera (Ladybug3)
@ 2 meter distance spacing traveling at 40 mph
400 Mb
24,000 Mb (23.5 Gb)
Image file size from camera will depend on speed being traveled when set by distance more than time

16. Workflow – Post Processing
GNSS Rover Data
Post Processed GNSS Data
GNSS Base Data or CORS Data
Raw Inertial Data (IMU)
GNSS+INS Post Processing Forwards and Backward trajectory computation
Vehicle Odometry Data (DMI)

17. Workflow – Point Cloud & Image Generation
Raw Image Data (PGR)
Stitched Spherical Images
GNSS+INS Post Processing Forwards and Backward trajectory computation
Point Cloud Data
Raw LiDar Data

18. Workflow – Image Alignment / Pose
Raw Image Data (PGR)
Stitched Spherical Images
Point Cloud Data
GNSS+INS Post Processing Forwards and Backward trajectory computation

24. Realistic Environment

27. GIS Shapefiles with Attributes
Deliverables
GIS Shapefiles with Attributes
360o Images
Point Cloud
GIS Data
Attributes +
Measurements +
DBF 27

28. Deliverables Image Export Options Individual lens frames
360° spherical stitched images
.jpeg format
.bmp format
.avi format 28

29. Deliverables Point Cloud
.LAS file format is a public file format for the interchange of LIDAR data
Ascii.txt - common point cloud file format 29

30. Point Cloud – Mobile & Aerial Data

31. IP-S2 Applications Power Utility Mapping
ROW
Pole inventory / Joint Use Audit
Risk Management QC
Vegetation Management
Infrastructure and Asset Management
Utility structure location
Condition
Compliance
Regulatory/Safety/Environmental

32. IP-S2 Applications Roads / Streets / Highway Mapping
3D Surface Conditions
Inventory Pavement conditions
Change Detection over time
Disaster response planning
Railway Corridor Mapping
Pipeline Mapping

33. Is the solution complete – “Out-of-the Box”?
Considerations?
Is the solution complete – “Out-of-the Box”?
(Hardware / Software)
How compact and mobile is the system?
Is the system scalable?
- Add new sensors , as needed?

34. 3D Mobile Mapping Professional Services
Specifically for Pilot Project / Proof of Concept

35. Topcon Positioning Systems
Dave Henderson
Topcon Positioning Systems
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