The generation of building floor plans using portable and unmanned aerial vehicle mapping systems

G. J. Tsai, Y. L. Chen, K. W. Chiang, Y. C. Lai

Research output: Contribution to journalConference article

Abstract

Indoor navigation or positioning systems have been widely developed for Location-Based Services (LBS) applications and they come along with a keen demand of indoor floor plans for displaying results even improving the positioning performance. Generally, the floor plans produced by robot mapping focus on perceiving the environment to avoid obstacles and using the feature landmarks to update the robot position in the relative coordinate frame. These maps are not accurate enough to incorporate to the indoor positioning system. This study aims at developing Indoor Mobile Mapping System (Indoor MMS) and concentrates on generating the highly accurate floor plans based on the robot mapping technique using the portable, robot and Unmanned Aerial Vehicles (UAV) platform. The proposed portable mapping system prototype can be used in the chest package and the handheld approach. In order to evaluate and correct the generated floor plans from robot mapping techniques, this study builds the testing and calibration field using the outdoor control survey method implemented in the indoor environments. Based on control points and check points from control survey, this study presents the map rectification method that uses the affine transformation to solve the scale and deformation problems and also transfer the local coordinate system into world standard coordinate system. The preliminary results illustrate that the final version of the building floor plan reach 1 meter absolute positioning accuracy using the proposed mapping systems that combines with the novel map rectification approach proposed. These maps are well geo-referenced with world coordinate system thus it can be applied for future seamless navigation applications including indoor and outdoor scenarios.

Original languageEnglish
Pages (from-to)331-337
Number of pages7
JournalInternational Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences - ISPRS Archives
Volume41
DOIs
Publication statusPublished - 2016 Jan 1
Event23rd International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences Congress, ISPRS 2016 - Prague, Czech Republic
Duration: 2016 Jul 122016 Jul 19

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Unmanned aerial vehicles (UAV)
robot
Robots
positioning system
positioning
navigation
Navigation
Location based services
survey method
plan
vehicle
Calibration
calibration
Testing
scenario
co-ordinate system
demand
performance

All Science Journal Classification (ASJC) codes

  • Information Systems
  • Geography, Planning and Development

Cite this

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