Accurate three-dimensional (3D) data from indoor spaces are of high importance for various applications in construction, indoor navigation and real estate management. Mobile scanning techniques are offering an efficient way to produce point clouds, but with a lower accuracy than the traditional terrestrial laser scanning (TLS). In this paper, we first tackle the problem of how the quality of a point cloud should be rigorously evaluated. Previous evaluations typically operate on some point cloud subset, using a manually-given length scale, which would perhaps describe the ranging precision or the properties of the environment. Instead, the metrics that we propose perform the quality evaluation to the full point cloud and over all of the length scales, revealing the method precision along with some possible problems related to the point clouds, such as outliers, over-completeness and misregistration. The proposed methods are used to evaluate the end product point clouds of some of the latest methods. In detail, point clouds are obtained from five commercial indoor mapping systems, Matterport, NavVis, Zebedee, Stencil and Leica Pegasus: Backpack, and three research prototypes, Aalto VILMA , FGI Slammer and the Würzburg backpack. These are compared against survey-grade TLS point clouds captured from three distinct test sites that each have different properties. Based on the presented experimental findings, we discuss the properties of the proposed metrics and the strengths and weaknesses of the above mapping systems and then suggest directions for future research.

Forest mapping, one of the main components of performing a forest inventory, is an important driving force in the development of laser scanning. Mobile laser scanning (MLS), in which laser scanners are installed on moving platforms, has been studied as a convenient measurement method for forest mapping in the past several years. Positioning and attitude accuracies are important for forest mapping using MLS systems. Inertial Navigation Systems (INSs) and Global Navigation Satellite Systems (GNSSs) are typical and popular positioning and attitude sensors used in MLS systems. In forest environments, because of the loss of signal due to occlusion and severe multipath effects, the positioning accuracy of GNSS is severely degraded, and even that of GNSS/INS decreases considerably. Light Detection and Ranging (LiDAR)-based Simultaneous Localization and Mapping (SLAM) can achieve higher positioning accuracy in environments containing many features and is commonly implemented in GNSS-denied indoor environments. Forests are different from an indoor environment in that the GNSS signal is available to some extent in a forest. Although the positioning accuracy of GNSS/INS is reduced, estimates of heading angle and velocity can maintain high accurate even with fewer satellites. GNSS/INS and the LiDAR-based SLAM technique can be effectively integrated to form a sustainable, highly accurate positioning and mapping solution for use in forests without additional hardware costs. In this study, information such as heading angles and velocities extracted from a GNSS/INS is utilized to improve the positioning accuracy of the SLAM solution, and two information-aided SLAM methods are proposed. First, a heading angle-aided SLAM (H-aided SLAM) method is proposed that supplies the heading angle from GNSS/INS to SLAM. Field test results show that the horizontal positioning accuracy of an entire trajectory of 800 m is 0.13 m and is significantly improved (by 70%) compared to that of a traditional GNSS/INS; second, a more complex information added SLAM solution that utilizes both heading angle and velocity information simultaneously (HV-aided SLAM) is investigated. Experimental results show that the horizontal positioning accuracy can reach a level of six centimetres with the HV-aided SLAM, which is a significant improvement (by 86%). Thus, a more accurate forest map is obtained by the proposed integrated method.

The growing interest and the market for indoor Location Based Service (LBS) have been drivers for a huge demand for building data and reconstructing and updating of indoor maps in recent years. The traditional static surveying and mapping methods can’t meet the requirements for accuracy, efficiency and productivity in a complicated indoor environment. Utilizing a Simultaneous Localization and Mapping (SLAM)-based mapping system with ranging and/or camera sensors providing point cloud data for the maps is an auspicious alternative to solve such challenges. There are various kinds of implementations with different sensors, for instance LiDAR, depth cameras, event cameras, etc. Due to the different budgets, the hardware investments and the accuracy requirements of indoor maps are diverse. However, limited studies on evaluation of these mapping systems are available to offer a guideline of appropriate hardware selection. In this paper we try to characterize them and provide some extensive references for SLAM or mapping system selection for different applications. Two different indoor scenes (a L shaped corridor and an open style library) were selected to review and compare three different mapping systems, namely: (1) a commercial Matterport system equipped with depth cameras; (2) SLAMMER: a high accuracy small footprint LiDAR with a fusion of hector-slam and graph-slam approaches; and (3) NAVIS: a low-cost large footprint LiDAR with Improved Maximum Likelihood Estimation (IMLE) algorithm developed by the Finnish Geospatial Research Institute (FGI). Firstly, an L shaped corridor (2nd floor of FGI) with approximately 80 m length was selected as the testing field for Matterport testing. Due to the lack of quantitative evaluation of Matterport indoor mapping performance, we attempted to characterize the pros and cons of the system by carrying out six field tests with different settings. The results showed that the mapping trajectory would influence the final mapping results and therefore, there was optimal Matterport configuration for better indoor mapping results. Secondly, a medium-size indoor environment (the FGI open library) was selected for evaluation of the mapping accuracy of these three indoor mapping technologies: SLAMMER, NAVIS and Matterport. Indoor referenced maps were collected with a small footprint Terrestrial Laser Scanner (TLS) and using spherical registration targets. The 2D indoor maps generated by these three mapping technologies were assessed by comparing them with the reference 2D map for accuracy evaluation; two feature selection methods were also utilized for the evaluation: interactive selection and minimum bounding rectangles (MBRs) selection. The mapping RMS errors of SLAMMER, NAVIS and Matterport were 2.0 cm, 3.9 cm and 4.4 cm, respectively, for the interactively selected features, and the corresponding values using MBR features were 1.7 cm, 3.2 cm and 4.7 cm. The corresponding detection rates for the feature points were 100%, 98.9%, 92.3% for the interactive selected features and 100%, 97.3% and 94.7% for the automated processing. The results indicated that the accuracy of all the evaluated systems could generate indoor map at centimeter-level, but also variation of the density and quality of collected point clouds determined the applicability of a system into a specific LBS.

High-voltage power lines can be quite easily mapped using laser scanning data, because vegetation close to high-voltage lines is typically removed and also because the power lines are located higher off the ground in contrast to regional networks and lower voltage networks. On the contrary, lower voltage power lines are located in the middle of dense forests, and it is difficult to classify power lines in such an environment. This paper proposes an automated power line detection method for forest environments. Our method was developed based on statistical analysis and 2D image-based processing technology. During the process of statistical analysis, a set of criteria (e.g., height criteria, density criteria and histogram thresholds) is applied for selecting the candidates for power lines. After transforming the candidates to a binary image, image-based processing technology is employed. Object geometric properties are considered as criteria for power line detection. This method was conducted in six sets of airborne laser scanning (ALS) data from different forest environments. By comparison with reference data, 93.26% of power line points were correctly classified. The advantages and disadvantages of the methods were analyzed and discussed.

This paper presents methods for 3D modeling of railway environments from airborne laser scanning (ALS) and mobile laser scanning (MLS). Conventionally, aerial data such as ALS and aerial images were utilized for 3D model reconstruction. However, 3D model reconstruction only from aerial-view datasets can not meet the requirement of advanced visualization (e.g., walk-through visualization). In this paper, objects in a railway environment such as the ground, railroads, buildings, high voltage powerlines, pylons and so on were reconstructed and visualized in real-life experiments in Kokemaki, Finland. Because of the complex terrain and scenes in railway environments, 3D modeling is challenging, especially for high resolution walk-through visualizations. However, MLS has flexible platforms and provides the possibility of acquiring data in a complex environment in high detail by combining with ALS data to produce complete 3D scene modeling. A procedure from point cloud classification to 3D reconstruction and 3D visualization is introduced, and new solutions are proposed for object extraction, 3D reconstruction, model simplification and final model 3D visualization. Image processing technology is used for the classification, 3D randomized Hough transformations (RHT) are used for the planar detection, and a quadtree approach is used for the ground model simplification. The results are visually analyzed by a comparison with an orthophoto at a 20 cm ground resolution.