ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences
Publications Copernicus
Articles | Volume V-1-2022
17 May 2022
 | 17 May 2022


M. Bleier, J. van der Lucht, and A. Nüchter

Keywords: kinect, backpack mapping, mobile mapping, continuous-time slam, rgb-d sensors

Abstract. In recent years, 3D surveying using mobile mapping has become increasingly popular. Handheld or backpack mounted systems resulted in new uses and applications because they enable fast data acquisition in areas that are difficult to access. Many of these applications do not require high-precision measurement, but they often involve highly complex environments. In this paper, we present a mobile mapping backpack based on four Microsoft Kinect RGB-D sensors and an Intel T265 tracking camera. The data processing takes place in three steps. Starting with a first trajectory and map created using visual-inertial odometry, which is subsequently optimized by means of a continuous-time ICP. Finally, the trajectory is further improved by a continuous-time SLAM approach. In this work, a data set was recorded and analyzed in a bunker facility with the system carried at a walking speed of approximately 0.7 meters per second. For the evaluation, these data are compared with a reference data set, recorded with a Riegl VZ-400 laser scanner.