ISPRS-Annals ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences ISPRS-Annals ISPRS Ann. Photogramm. Remote Sens. Spatial Inf. Sci. 2194-9050 Copernicus Publications Göttingen, Germany 10.5194/isprsannals-II-3-W5-17-2015 A MAN-PORTABLE, IMU-FREE MOBILE MAPPING SYSTEM Nüchter A. 1 Borrmann D. 1 Koch P. 2 Kühn M. 2 May S. 2 Informatics VII – Robotics and Telematics Julius-Maximilians University W¨urzburg, Germany Faculty of Electrical Engineering, Precision Engineering, Information Technology Nuremberg Institute of Technology Georg Simon Ohm, Germany 19 08 2015 II-3/W5 17 23 Copyright: © 2015 A. Nüchter et al. 2015 This work is licensed under the Creative Commons Attribution 3.0 Unported License. To view a copy of this licence, visit https://creativecommons.org/licenses/by/3.0/ This article is available from https://isprs-annals.copernicus.org/articles/II-3-W5/17/2015/isprs-annals-II-3-W5-17-2015.html The full text article is available as a PDF file from https://isprs-annals.copernicus.org/articles/II-3-W5/17/2015/isprs-annals-II-3-W5-17-2015.pdf

Mobile mapping systems are commonly mounted on cars, ships and robots. The data is directly geo-referenced using GPS data and expensive IMU (inertial measurement systems). Driven by the need for flexible, indoor mapping systems we present an inexpensive mobile mapping solution that can be mounted on a backpack. It combines a horizontally mounted 2D profiler with a constantly spinning 3D laser scanner. The initial system featuring a low-cost MEMS IMU was revealed and demonstrated at <i>MoLaS: Technology Workshop Mobile Laser Scanning at Fraunhofer IPM</i> in Freiburg in November 2014. In this paper, we present an IMU-free solution.