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The digital acquisition of Cultural Heritage is a complex process, highly depending on the nature of the object as well as the purpose of its detection. Even if there are different survey techniques and sensors that allow the generation of realistic 3D models, defined by a good metric quality and a detail consistent with the geometric characteristics of the object, an interesting goal could be to develop a unified treatment of the methodologies. The Chapel of the Holy Shroud, with its intricate articulation, becomes the benchmark to test an integrated protocol between a terrestrial laser scanner (TLS) and a wearable mobile laser system (WMLS) based on a SLAM approach. In order to quantify the accuracy and precision of the latter solution, several forms of comparison are proposed. For the case study the ZEB-REVO, produced and marketed by GeoSLAM, is tested. Computations of cloud-to-cloud (C2C) absolute distances, comparisons of slices and extractions of planar features are performed, using stationary laser scanner (Faro FocusS S350) as a reference. Finally, the obtained results are reported, allowing us to assert that the quality of the WMLS measurements is compatible with the data provided by the manufacturer, thus making the instrumentation suitable for certain specific applications.

Understanding how various Mobile Mapping System (MMS) laser hardware configurations and operating parameters exercise different influence on point density is important for assessing system performance, which in turn facilitates system design and MMS benchmarking. Point density also influences data processing, as objects that can be recognised using automated algorithms generally require a minimum point density. Although obtaining the necessary point density impacts on hardware costs, survey time and data storage requirements, a method for accurately and rapidly assessing MMS performance is lacking for generic MMSs. We have developed a method for quantifying point clouds collected by an MMS with respect to known objects at specified distances using 3D surface normals, 2D geometric formulae and line drawing algorithms. These algorithms were combined in a system called the Mobile Mapping Point Density Calculator (MIMIC) and were validated using point clouds captured by both a single scanner and a dual scanner MMS. Results from MIMIC were promising: when considering the number of scan profiles striking the target, the average error equated to less than 1 point per scan profile. These tests highlight that MIMIC is capable of accurately calculating point density for both single and dual scanner MMSs.

A land-based mobile mapping system (MMS) is flexible and useful for the acquisition of road environment geospatial information. It integrates a set of imaging sensors and a position and orientation system (POS). The positioning quality of such systems is highly dependent on the accuracy of the utilized POS. This limitation is the major drawback due to the elevated cost associated with high-end GPS/INS units, particularly the inertial system. The potential accuracy of the direct sensor orientation depends on the architecture and quality of the GPS/INS integration process as well as the validity of the system calibration (i.e., calibration of the individual sensors as well as the system mounting parameters). In this paper, a novel single-step procedure using integrated sensor orientation with relative orientation constraint for the estimation of the mounting parameters is introduced. A comparative analysis between the proposed single-step and the traditional two-step procedure is carried out. Moreover, the estimated mounting parameters using the different methods are used in a direct geo-referencing procedure to evaluate their performance and the feasibility of the implemented system. Experimental results show that the proposed system using single-step system calibration method can achieve high 3D positioning accuracy.

Mobile mapping systems have been widely applied for acquiring spatial information in applications such as spatial information systems and 3D city models. Nowadays the most common technologies used for positioning and orientation of a mobile mapping system include a Global Positioning System (GPS) as the major positioning sensor and an Inertial Navigation System (INS) as the major orientation sensor. In the classical approach, the limitations of the Kalman Filter (KF) method and the overall price of multi-sensor systems have limited the popularization of most land-based mobile mapping applications. Although intelligent sensor positioning and orientation schemes consisting of Multi-layer Feed-forward Neural Networks (MFNNs), one of the most famous Artificial Neural Networks (ANNs), and KF/smoothers, have been proposed in order to enhance the performance of low cost Micro Electro Mechanical System (MEMS) INS/GPS integrated systems, the automation of the MFNN applied has not proven as easy as initially expected. Therefore, this study not only addresses the problems of insufficient automation in the conventional methodology that has been applied in MFNN-KF/smoother algorithms for INS/GPS integrated systems proposed in previous studies, but also exploits and analyzes the idea of developing alternative intelligent sensor positioning and orientation schemes that integrate various sensors in more automatic ways. The proposed schemes are implemented using one of the most famous constructive neural networks--the Cascade Correlation Neural Network (CCNNs)--to overcome the limitations of conventional techniques based on KF/smoother algorithms as well as previously developed MFNN-smoother schemes. The CCNNs applied also have the advantage of a more flexible topology compared to MFNNs. Based on the experimental data utilized the preliminary results presented in this article illustrate the effectiveness of the proposed schemes compared to smoother algorithms as well as the MFNN-smoother schemes.

The use of Mobile Mapping Systems (MMS) have increased over the last years, with integrated GNSS/INS solution as the common approach to preserving the quality of measurement. For environments where satellite signals become unavailable, such as in tunnels, additional sources of aiding need to be considered. Landsurveyed features, known as adjustment points, are typically utilized to preserve the requested accuracy in most projects. However, as this is a costly and less effcient procedure, alternatives to this approach would be preferred. This thesis is concerned with the use of relative tie points (RTP), representing one such alternative to the position aiding. Two distinct tunnels have been object to research, in terms of the field work and data collection. The quality and errors in terms of the navigation solution have been treated in separate section. The research results is analysed and presented in three parts herein. An additional higher grade IMU, lent out by The Norwegian Defence Research Establishment (FFI) for this purpose, has been added to the original mounting of positioning providing sensors. This enables the comparison of navigation solutions, based on performance. The available reference trajectory for the tunnels of research further provide comparison of true errors in the measurement. The results show that the RTP aiding adds a useful constraint in the dataset resulting in a more consistent trajectory. Including an amount of 10-20 RTPs seem suffcient for the purpose of the position aiding, as shown in Part I. The speed throughout the tunnel is con rmed important in terms of the overall accuracy of position. Part II conclude that the original underlying model in TerraPos is inadequate in terms of external error effects. Part III further investigates the systematic behaviour uncovered in Part II, by means of the gravitational attraction of masses surrounding the surveying vehicle while inside a tunnel. Approximation to the largest resulting error in position and corresponding processing of the dataset return affrmative results. Neglecting the masses by free-air reduction results in a signifiicant error that cannot be ignored. Bruk av Mobile Mapping Systems (MMS) har økt de siste årene, med integrert GNSS/INS løsning som den mest vanlige kombinasjonen for å bevare kvaliteten p å navigasjonsl øsningen. For miljø er der satellittsignaler plutselig blir utilgjengelige, som for eksempel i tunneler, er behovet for mer informasjon til systemet nødvendig, for å oppnå den ønskede nøyaktigheten. Landmålte punkter, kjent som justeringspunkter, gir den mest nøyaktige referansen. Dette er en kostbar og mindre effektiv prosess, og alternativer vil være å foretrekke, forutsatt at den nødvendige nøyaktigheten kan oppnås. Denne oppgaven fokuserer på bruken av relative sammenbindingspunkter. To forskjellige tunneler har vært gjenstand for forskning i oppgaven. Resultatene presentert i tre deler. En høyere grads IMU er blitt lånt ut av Forsvarets Forsknings Institutt (FFI) for denne oppgaven, som representerer en ellers utilgjengelig grad av nøyaktighet og presisjon, og muliggjør en videre sammenligning av resulterende navigasjonsløsninger. En tilgjengelig referanse for tunnelene returnerer sanne feil som mål på kvaliteten. Resultatene viser at justeringspunkt tilfører datasettet informasjon som resulterer i en mer konsistent løsning. En mengde på 10-20 punkter kan være tilstrekkelig, som vist i Del I. Hastighet gjennom tunnelen blir bekreftet viktig for den totale nøyaktigheten. Del II konkludere med at den opprinnelige underliggende modellen er utilstrekkelig, da feil forårsaket av umodellerte utenforliggende effekter finnes i dataene. Del III unders øker videre den systematiske oppf ørsel avdekket i Del II. En analytisk tilnærming og en tilsvarende prossessert analyse gir samsvarende konklusjon av denne feilen. Neglisjering av omkringliggende masser ved å anta en fri-lufts reduksjon utgjør en betydelig feil når inne i tunnellen. Denne feilen kan ikke ignoreres. M-GEOM

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Handheld computers have become capable of more than data storage and precision measurement; they have begun to contribute to scientific studies conducted in demanding field research settings. Recent versions of mobile GIS software allow researchers with limited programming skills to tailor the software to the priorities and theoretical needs of individual research projects. Depending on the research needs in a given situation, data recording can be expedient or thorough, and data acquisition forms can be designed to emphasize flexibility for varied or unpredictable field conditions. By giving researchers access to large digital datasets and spatial analysis tools while in the field, mobile GIS facilitates the data acquisition process and can contribute to the quality and the efficiency of fieldwork. In this study, the implementation of ESRI Arcpad 6 in a high-altitude archaeological survey project in Peru presented challenges to the mobile GIS system that are perhaps common to many mobile GIS-based scientific fieldwork projects. The paper discusses the benefits and the limitations of doing an archaeological survey using mobile GIS. It also considers some of the ways in which improvements in mobile GIS technology will facilitate the methods of resource managers and field scientists in the future.

Today the need for 3D modeling is more and more important to meet multiple uses such as communication or urban planning. Mobile mapping systems have been developed and used to get wide point cloud to cover a city. These data will allow us to realize most of the time a 3D model of pedestrian type letting appear facade elements (windows, balconies…) and street furniture (candelabra, trees…). At first, classification and segmentation methods will be studied to separate the ground (roads and sidewalks) from facades and elements of street furniture. A process for modeling accurately and lightwise a set of facades and a method of automatic insertion of 3D cells in the software Rhinocéros 3D will be implemented. The purpose of this study was to verify the possibility of obtaining a usable 3D model from data from sensors dynamic.; Aujourd’hui, le besoin en modélisation 3D est de plus en plus important pour répondre à de multiples usages comme la communication ou l’urbanisme. Les systèmes de cartographie mobile se sont développés et permettent d’obtenir de vastes nuages de points. Ces données vont permettre de réaliser la plupart du temps une maquette 3D de type piéton laissant apparaitre les éléments de façades (fenêtres, balcons…) et le mobilier urbain (candélabres, arbres…). Dans un premier temps, les méthodes de classification et de segmentation seront étudiées pour distinguer le sol (routes et trottoirs), les façades et les éléments du mobilier urbain. Une démarche permettant de modéliser un ensemble de façades de façon précise et légère sera proposée ainsi qu’une méthode d’insertion automatique de cellules 3D sous le logiciel Rhinocéros 3D, le but de cette étude étant de vérifier la possibilité d’obtenir un modèle 3D exploitable à partir de données issues de capteurs dynamiques.

The current generation of Mobile Mapping Systems (MMSs) capture high density spatial data in a short time-frame. The quantity of data is difficult to predict as there is no concrete understanding of the point density that different scanner configurations and hardware settings will exhibit for objects at specific distances. Obtaining the required point density impacts survey time, processing time, data storage and is also the underlying limit of automated algorithms. This paper details a novel method for calculating point and profile information for terrestrial MMSs which are required for any point density calculation. Through application of algorithms utilising 3D surface normals and 2D geometric formulae, the theoretically optimal profile spacing and point spacing are calculated on targets. Both of these elements are a major factor in calculating point density on arbitrary objects, such as road signs, poles or buildings-all important features in asset management surveys.

Traditionally, serviceability surveys are conducted periodically through visual inspection of pavements in order to identify and classify any existing distress. Though such ratings may be subjective in nature, they are very useful for project level surveys or when technical or funding limitations arise. Many authorities and organisations have devised methods and equipment to objectively measure pavement surface conditions. The latest developments in this field include the use of laser scanners and video imaging technologies. Such techniques allow for determining the geometric characteristics of the distress and its position in an 'absolute' reference system, taking into account the precision of the measurements performed. A standardised index obtained by combining various types of distress is useful when drafting priority maintenance lists for specific road sections. A semi-automatic method has been tested on various sites and validated by comparing the results obtained with those from standard manual calculation of the index.

La version complète de cette thèse est confidentielle jusqu'au 13 janvier 2014 Co-encadrants de thèse : Joël SENPAUROCA et Grégory LEPERE (MENSI-Trimble); This thesis is a collaboration between the Robotics Centre CAOR of MINES ParisTech and MENSI-Trimble under the CIFRE (Convention Industrielle de Formation par la Recherche) convention, to desgin an innovative laser scanning system dedicated to mobile mapping systems. We developed a method for the qualitative analysis of point-cloud data and the conception of a mobile mapping system using simulation. We elaborated several concepts for mobile laser scanners, which we realized virtually using the simulator. We performed data acquisitions in order to analyze the simulated data. We chose the most suitable concept, based on our analysis results, constructed a prototype and assessed its performance in a real environment.; Cette thèse a été effectuée en collaboration entre le Centre de Robotique CAOR de MINES ParisTech et MENSI-Trimble sous convention CIFRE (Convention Industrielle de Formation par la Recherche), afin de concevoir un nouveau système de scanner laser innovant dédié aux systèmes mobiles de cartographie. Pour cela, nous avons développé une méthode d'analyse qualitative des relevés laser et une démarche de conception par simulation d'un système mobile de cartographie. Nous avons ensuite élaboré plusieurs concepts de scanners laser mobiles. A l'aide du simulateur, nous avons virtuellement réalisé ces concepts et avons fait des acquisitions simulées afin d'analyser les données. Après avoir obtenu les résultats de l'analyse, nous avons choisi un concept, réalisé son prototypage et effectué son évaluation en situation réelle.

Os sistemas móveis de mapeamento integram sensores e metodologia de modo a produzir uma posição espacial de qualquer detalhe na ou próximo à superfície terrestre. Isto significa um conjunto de equipamentos, consideravelmente caros, tais como câmaras digitais, receptores GPS (Global Positioning System), plataformas inerciais, entre outros, de tal modo que quando juntos podem produzir imagens georreferenciadas e coordenadas espaciais de qualquer atributo. Uma seqüência de imagens terrestres foi formada por imagens digitais consecutivas tomadas de bases que foram movidas ao longo do eixo principal de ruas. Este procedimento foi feito depois de montadas as vídeo câmaras no topo de um veículo Kombi para tomar as imagens dos arruamentos. A orientação do sensor foi obtida por meio da integração GPS (posicionamento dos centros perspectivos) e fototriangulação (atitude das câmaras). Este artigo apresenta os conceitos e problemas dos sistemas relacionados à tecnologia de mapeamento móvel e apresenta os primeiros resultados produzidos por um protótipo em desenvolvimento num projeto de mapeamento de ruas na escala 1:2000. Testes estatísticos mostraram que a acurácia do mapa foi aceitável e o erro padrão ficou em torno de 1,0 mm na escala do mapa.