Implementation of a Low-Cost Mini-UAV Laser Scanning System

YANG Bisheng; LI Jianping

doi:10.13203/j.whugis20180265

Volume 43 Issue 12

Dec. 2018

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Geomatics and Information Science of Wuhan University > 2018 > 43(12): 1972-1978. > DOI: 10.13203/j.whugis20180265

YANG Bisheng, LI Jianping. Implementation of a Low-Cost Mini-UAV Laser Scanning System[J]. Geomatics and Information Science of Wuhan University, 2018, 43(12): 1972-1978. DOI: 10.13203/j.whugis20180265

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Implementation of a Low-Cost Mini-UAV Laser Scanning System

YANG Bisheng^{1, 2,},
LI Jianping^{1, 2}

1.
State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, Wuhan 430079, China
2.
Engineering Research Center for Spatio-Tempoal Data Smart Acquisition and Application, Ministry of Education, Wuhan University, Wuhan 430079, China

Funds:

The National Science Fund for Distinguished Young Scholars 41725005

the National Natural Science Foundation of China 41531177

the Project of Yangtze River Scholar Distinguished Professor

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Author Bio:
YANG Bisheng, PhD, professor, National Distinguished Young Scholars, specializes in UAV photogrammetry and 3D reconstruction, point cloud processing, and GIS applications. E-mail: bshyang@whu.edu.cn
Received Date: August 08, 2018
Published Date: December 04, 2018

Graphical Abstract

Abstract

Abstract

Mini-UAV laser scanning system can be applied to the high precision earth observation, which is an active area in the field of mobile mapping. However, due to the limitation of payload and battery consumption of a mini-UAV (maximum payload is less than 5 kg), and the high cost of the sensors, a tradeoff must be made between cost, weight, and accuracy when designing of the mini-UAV laser scanning system. To realize the high precision and low-cost mobile mapping, this paper designs a low-cost mini-UAV laser scanning system:Luojia Kylin Cloud. This system contains several low-cost sensors, including MEMS (micro electro mechanical system) based IMU (inertial measurement unit), global shutter camera, wide angle lens and 16-line laser scanner. Firstly, this paper proposes an IMU aided bundle adjustment to improve the accuracy of the low-cost MEMS based IMU. Secondly, this paper proposes a boresight self-calibration algorithm for the laser scanner based on the consistence of the depth map generated by MVS(multi-view stereo) and projection of the laser measurement. At last, the laser point clouds are generated by using the estimated states a boresight parameters. To evaluate the accuracy of Luojia Kylin Cloud laser scanning system, study area in Wuhan University is selected for point cloud collection, and a lot of ground check points are measured. The result shows that the average error of the check points is 17.8 cm, which demonstrates the high accuracy and robustness of the proposed system.
- ubiquitous point cloud,
- low-cost,
- UAV laser scanning,
- 3D mapping,
- point cloud processing

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References

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