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-5-117-2014 A sensor skid for precise 3D modeling of production lines Elseberg J. 1 Borrmann D. 1 Schauer J. 2 Nüchter A. 1 Koriath D. 3 Rautenberg U. 3 Informatics VII : Robotics and Telematics, Julius-Maximilians-University Würzburg, Am Hubland, Wüzburg 97074, Germany School of Engineering and Science, Automation Group, Jacobs University of Bremen gGmbH, Campus Ring 1, Bremen 28759, Germany K-EFP/V group at Volkswagen AG Wolfsburg 38436, Germany 28 05 2014 II-5 117 122 Copyright: © 2014 J. Elseberg et al. 2014 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-5/117/2014/isprs-annals-II-5-117-2014.html The full text article is available as a PDF file from https://isprs-annals.copernicus.org/articles/II-5/117/2014/isprs-annals-II-5-117-2014.pdf

Motivated by the increasing need of rapid characterization of environments in 3D, we designed and built a sensor skid that automates the work of an operator of terrestrial laser scanners. The system combines terrestrial laser scanning with kinematic laser scanning and uses a novel semi-rigid SLAMmethod. It enables us to digitize factory environments without the need to stop production. The acquired 3D point clouds are precise and suitable to detect objects that collide with items moved along the production line.