mobile mapping technology and applications › ... › imported › mobilemapping.pdf · mobile...
TRANSCRIPT
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Mobile Mapping Technology and
Applications
Mark Meade, PE, PLS, CP Senior Vice President
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Presentation Outline
• Mobile Mapping Basics
• Mobile Mapping Applications
• Mobile Mapping Positioning
• Sensor Configuration
• Sensor Capabilities
• System Accuracies
• Feature Extraction
• System Limitations
• Sample Data
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Mobile Mapping Basics
• Mobile Mapping is a highly accurate method of spatial data collection
• The Mobile Mapping Sensor is mounted on a mobile platform (SUV, boat, golf cart, ATV, etc.) depending on the specific application
• The mobile platform is driven along a pre-planned route to acquire a spatial model consisting of 3D points (point cloud) of the project area along with calibrated imagery
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Mobile Mapping Basics
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Mobile Mapping Basics
• The sensor collects the point cloud of all features within a swath of 250 to 300 feet each side of the path driven
• Swath width is limited by the relative low power of the eye safe lasers
• Vehicle can be driven at posted road speeds
• To be useful, this 3D model must be both very accurate and very dense
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Mobile Mapping Basics
• Primary advantages are high productivity (miles per day, etc.), increased safety (e.g., removing surveyors from traffic on roadways), and high accuracy
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Mobile Mapping Basics
• After acquisition, the spatial model collected from the sensor is used in the office environment to extract very accurate feature information from the point cloud
• This information might include topography, utilities, structure locations, cross sections, bridge clearances, signage, etc.
• Semi-automated feature extraction is critically important to any mobile mapping project
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Mobile Mapping Basics
• Up to four returns can be measured for each outgoing laser pulse… this allows the sensor to “see” through vegetation
• The intensity (relative reflectivity) of each of the returns is also measured and can be rendered as shown
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Mobile Mapping Applications
• Any linear or corridor type project that requires considerable accuracy and detail, that also has reasonable access for maneuvering a mobile vehicle
• Ideal applications include roadways, railways, streams, piers, coastal (dunes, etc.), above ground utilities, buildings, etc.
• Access is critical to the project’s success
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Mobile Mapping Positioning
• GPS provides the 3D positioning of the sensors (XYZ)
• Inertial Navigation Systems (INS) provides the 3D rotation of the sensor (omega, phi, kappa)
• Distance Measurement Indicators (DMI) provides the distance traveled
• The system has the ability to use dead reckoning for brief GPS outages due to tunnels, overhanging vegetation, etc. without significant accuracy degradation
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Sensor Configuration
• The typical configuration includes acquisition of LiDAR (providing 3D positional information) from two sensors (200,000 kHz Each)
• LiDAR uses a rotating laser beam and GPS/INS positioning technology to measure the distance and direction to objects
• Four digital cameras for imagery (5MP Each)
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Sensor Configuration
DMI
LiDAR Sensor GPS and Inertial Sensors
Calibrated Digital Cameras
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Sensor Configuration
LiDAR Sensors Calibrated Digital Cameras
Calibrated Digital Cameras
Calibrated Digital Cameras
GPS and Inertial Sensors
LiDAR Sensors
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Sensor Configuration
Sensors rotate in a 360º Arc
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Sensor Configuration
• For most applications, the sensor is typically mounted on a van or an SUV… as on our Chevy Suburban
• For rail applications, it is advantageous to mount the sensor on a Hi-Rail Vehicle
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Sensor Configuration
• For some applications relating to water bodies, mounting it on a boat is required.
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Sensor Capabilities
• Today’s Mobile Mapping LiDAR sensors include the ability to capture 400,000 to 500,000 points per second of travel
• Soon (summer 2011), the LiDAR sensors will move to capture rates up to 1 million points per second – with dual 500 kHz lasers
• Each outgoing laser pulse is captured as an accurate 3D position
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Sensor Capabilities
• Very high point densities of 5,000 points per square meter are possible near the driven path
• The point density will decrease somewhat at increased distances from the sensor & speed
• At these very high densities it is possible to recognize and position even very small features along the route
• The lasers provide true 360 degree coverage, allowing the accurate location of both ground-based and aerial (overhead utilities, etc.) features
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System Accuracies
• Accuracy depends on a number of factors (max GPS baseline length, GPS configuration, PDOP, etc.)
• For the most demanding projects, horizontal and vertical accuracies to 0.05’ can be achieved within the point cloud from LiDAR
• Calibration points placed throughout the project, with precise 3D positions are required to achieve the highest of accuracies
• Project cost is directly related to accuracy and the features to be extracted from the point cloud
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Feature Extraction
• With point clouds often consisting of billions of points, efficiently extracting intelligent vector data from these point clouds is critical to a project’s success
• Software has made significant strides in the last year in managing and extracting data from the cloud
• Extraction uses both elevation and intensity models for automated routines
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System Limitations
• The sensor is line-of-sight
• It can see through some vegetation, but can not see behind buildings, embankments, etc.
• The system depends on GPS for positioning and therefore tunnels, urban canyons, and overhanging vegetation can pose challenges
• The system generates significant data… up to 90 MB per second currently with dual LiDAR and 4 metric digital cameras
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Calibration
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Sample Data
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Sample Data
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Sample Data
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Sample Data
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Sample Data
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Sample Data
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Sample Data
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Sample Data
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Sample Data
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Sample Data
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Sample Data