Shipborne Over- and Under-Water Integrated Mobile Mapping System and Its Seamless Integration of Point Clouds

ABSTRACT

The rapid acquisition techniques of over- and under-water geoinformation is urgently needed. The Shipborne Over- and Under-water integrated Mobile Mapping System (SiOUMMS) applies plug-in and multi-process network technology to achieve integrated data acquisition and cooperative control of multi-sensors, such as Global Navigation Satellite System, Inertial Measurement Unit, laser scanner, and multi-beam echo sounder. The proposed system can meet the requirements of diverse application scenarios and sensors, allowing for flexibility and scalability. Meanwhile, coarse calibration based on a set of common points and fine calibration using the plane feature constraint are proposed for integratedly obtaining the exterior orientation elements of the laser scanner and the multi-beam echo sounder. Together, these methods provide theoretical support and technical help to the seamless integration of over- and under-water point clouds. Experiments are also described, proving that the root mean square error of over-water point clouds is 0.133 m, the average elevation clearance spacing between adjacent over- and under-water point clouds is less than 0.3 m, and the average horizontal clearance spacing is less than 0.2 m. At the same time, cases in this paper show that SiOUMMS has made important achievements in the integrated measurement of reefs, coastal zone, and inland waterways, and has broad prospects for future applications.

KEYWORDS:

• Calibration of spatial relationship
• mobile mapping system
• over- and under-water integration
• point clouds
• seamless integration
• shipborne

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Funding

This work is funded by Public Science and Technology Research Funds Projects of Ocean (grant No. 201305034), Public Science and Technology Research Funds Projects of Surveying and Mapping (grant No. 201512034), A Project of Shandong Province Higher Educational Science and Technology Program (grant No. J13LH04), the Key Laboratory of Surveying and Mapping Technology on Island and Reef, NASG, China (grant No. 2015A01) and Graduate Education Innovation Project of Shandong University of Science and Technology (grant No. KDYC15004).