The performance analysis of an indoor mobile mapping system with RGB-D sensor

G. J. Tsai, K. W. Chiang, C. H. Chu, Y. L. Chen, N. El-Sheimy, A. Habib

Research output: Contribution to journalConference article

3 Citations (Scopus)


Over the years, Mobile Mapping Systems (MMSs) have been widely applied to urban mapping, path management and monitoring and cyber city, etc. The key concept of mobile mapping is based on positioning technology and photogrammetry. In order to achieve the integration, multi-sensor integrated mapping technology has clearly established. In recent years, the robotic technology has been rapidly developed. The other mapping technology that is on the basis of low-cost sensor has generally used in robotic system, it is known as the Simultaneous Localization and Mapping (SLAM). The objective of this study is developed a prototype of indoor MMS for mobile mapping applications, especially to reduce the costs and enhance the efficiency of data collection and validation of direct georeferenced (DG) performance. The proposed indoor MMS is composed of a tactical grade Inertial Measurement Unit (IMU), the Kinect RGB-D sensor and light detection, ranging (LIDAR) and robot. In summary, this paper designs the payload for indoor MMS to generate the floor plan. In first session, it concentrates on comparing the different positioning algorithms in the indoor environment. Next, the indoor plans are generated by two sensors, Kinect RGB-D sensor LIDAR on robot. Moreover, the generated floor plan will compare with the known plan for both validation and verification.

Original languageEnglish
Pages (from-to)183-188
Number of pages6
JournalInternational Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences - ISPRS Archives
Issue number1W4
Publication statusPublished - 2015 Jan 1
EventISPRS International Conference on Unmanned Aerial Vehicles in Geomatics, UAV-g 2015 - Toronto, Canada
Duration: 2015 Aug 302015 Sep 2

All Science Journal Classification (ASJC) codes

  • Information Systems
  • Geography, Planning and Development

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