Mobile Panoramic Mapping using CCD-Line Camera and Laser Scanner

Authors Ralf Reulke, Aloysius Wehr, Denis Griesbach

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Ralf Reulke
Aloysius Wehr
Denis Griesbach

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Ralf Reulke, Aloysius Wehr, and Denis Griesbach. Mobile Panoramic Mapping using CCD-Line Camera and Laser Scanner. In Imaging Beyond the Pin-hole Camera. 12th Seminar on Theoretical Foundations of Computer Vision. Dagstuhl Seminar Proceedings, Volume 4251, pp. 1-6, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2005)


The fusion of panoramic camera data with laser scanner data is a new approach and allows the combination of high-resolution image and depth data. Application areas are city modelling, virtual reality and documentation of the cultural heritage. Panoramic recording of image data is realized by a CCD-line, which is precisely rotated around the projection centre. In the case of other possible movements, the actual position of the projection centre and the view direction has to be measured. Linear moving panoramas e.g. along a wall are an interesting extension of such rotational panoramas. Here, the instantaneous position and orientation determination can be realized with an integrated navigation system comprising differential GPS and an inertial measurement unit. This paper investigates the combination of a panoramic camera and a laser scanner with a navigation system for indoor and outdoor applications. First it will be reported about laboratory experiments, which were carried out to obtain valid parameters about the surveying accuracy achievable with both sensors panoramic camera and laser scanner respectively. Then out door surveying results using a position and orientation system as navigation sensor will be presented and discussed.
  • Digital panoramic camera
  • laser scanner
  • data fusion
  • mobile mapping


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