3D Reconstruction of a Geographic Scene by Laser Scanning using a Micro UAV
Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Laser scanning technology has been greatly evolved in the past couple of decades. The advancements made in the development of terrestrial and/or mobile terrestrial laser scanning systems have opened new doors towards building built or non-built scenes and maps. Due to this rapid development, wide variety of applications and methodologies based on this technology have emerged. However, the use of laser scanning directly for scene reconstruction is limited by the orientation, which requires multiple scans of a static scene and the orientation is obtained by matching at least 3 points. This process is cumbersome and time consuming and the sensor should remain static for the whole scan. This issue can be resolved by combing the laser scanning technology with other sensors. Based on this concept, in this thesis, we demonstrate geographic scene reconstruction by integrating laser scanning technology with GPS, IMU and UAV.For this work, we prototype a state-of-the-art aerial mobile scanning system that includes an octocopter fixed with a Hokuyo 2D laser range finder for obtaining the range / depth information, a Phidgets IMU to attain orientation and a Garmin GPS to gather global positional information. In order to maintain a synchronous device operation, all these components were attached to the single board computer using which, different ROS nodes were programmed for each device and were executed in parallel to acquire the data. As the operational frequency of each device varies from one other, an automatic data processing module has been implemented. A wireless communication model has been developed for data transmission from the computer on board to the processing module running on a remote computer. Besides, as each and every device acquires the data in their local coordinate system, a calibration has been performed initially to obtain the global transformation matrix. Next, the reconstruction process was performed offline using 3D tool kit, a multipurpose tool to reconstruct the processed data.The entire work was assessed by evaluating the operational ability of individual components. Various experiments were conducted on both indoor and outdoor scenes. Indoor scenes demonstrate the performance of the developed system whereas outdoor experiments illustrate the ability of the aerial mobile scanning system in partial reconstruction of a geographic scene. However, the flexibility and reconstruction ability of the developed system can be increased either by replacing the used 2D scanner with its 3D version or by using 3 different 2D scanners, one for each cartesian coordinate system.
Place, publisher, year, edition, pages
2015. , 82 p.
Technology, 2D laser scanning system, IMU, GPS, 3D reconstruction, mobile aerial laser scanning, point cloud, Laser scanner
IdentifiersURN: urn:nbn:se:ltu:diva-56110Local ID: ce9ec014-2c1e-4180-b312-b1f87b727c6cOAI: oai:DiVA.org:ltu-56110DiVA: diva2:1029496
Subject / course
Student thesis, at least 30 credits
Space Engineering, master's level
Nüchter, AndreasEnmark, Anita
Validerat; 20151207 (global_studentproject_submitter)2016-10-042016-10-04Bibliographically approved