Abstract

Planetary surfaces consist of rough terrain and cave-like environments. Future planetary exploration demands for accurate mapping. However, recent backpack mobile mapping systems are mostly tested in structured, indoor environments. This paper evaluates the use of a backpack mobile mapping system in a cave-like environment. The experiments demonstrate the abilities of an continuous-time optimization approach by mapping part of a lavatube of the La Corona volcano system on Lanzarote. We compare two strategies for trajectory estimation relying either on 2D or 3D laser scanners and show that a 3D laser scanner substantially improved the final results.

Details

Title
MOBILE MAPPING OF THE LA CORONA LAVATUBE ON LANZAROTE
Author
Lauterbach, H A 1 ; Borrmann, D 1 ; Nüchter, A 1 ; Rossi, A P 2   VIAFID ORCID Logo  ; Unnithan, V 2 ; Torrese, P 3   VIAFID ORCID Logo  ; Pozzobon, R 4   VIAFID ORCID Logo 

1  Computer Science VII – Robotics and Telematics, Julius-Maximilians-Universität Würzburg, Germany; Computer Science VII – Robotics and Telematics, Julius-Maximilians-Universität Würzburg, Germany 
2  Physics and Earth Sciences, Jacobs University Bremen, Germany; Physics and Earth Sciences, Jacobs University Bremen, Germany 
3  Dipartimento di Scienze della Terra e dell’Ambiente, Università di Pavia, Italy; Dipartimento di Scienze della Terra e dell’Ambiente, Università di Pavia, Italy 
4  Department of Geosciences, Università degli Studi di Padova, Italy; Department of Geosciences, Università degli Studi di Padova, Italy 
Pages
381-387
Publication year
2019
Publication date
2019
Publisher
Copernicus GmbH
ISSN
21949042
e-ISSN
21949050
Source type
Scholarly Journal
Language of publication
English
DOI
https://doi.org/10.5194/isprs-annals-IV-2-W5-381-2019
ProQuest document ID
2585376962
Copyright
© 2019. This work is published under https://creativecommons.org/licenses/by/4.0/ (the “License”). Notwithstanding the ProQuest Terms and Conditions, you may use this content in accordance with the terms of the License.