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Będkowski J., Kulicki M., Stereńczak K.♦, Matecki M.♦, Affordable air-ground mobile mapping system for precise forestry applications,
The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, 2025-06-16/06-18, Warszawa (PL), DOI: 10.5194/isprs-archives-XLVIII-1-W4-2025-5-2025 , pp.5-11, 2025 Streszczenie:
Precise forest inventory in difficult terrain remains challenging due to mobility constraints and canopy occlusion. This paper presents an affordable air-ground mobile mapping system combining shoulder-mounted double LiDAR with a lightweight FPV drone-based LiDAR. We developed an extrinsic calibration method for dual orthogonally-mounted sensors and implemented a comprehensive processing pipeline incorporating LiDAR odometry, pose graph SLAM, and multi-view Normal Distributions Transform. Field ex-periments demonstrate successful air-ground data fusion for tree stem detection and dendrometric parameter extraction. The system was validated in extreme environments including a cave survey, proving versatility in difficult terrain. All software components are released as open-source tools: https://github.com/MapsHD/HDMapping. Słowa kluczowe:
UAV LiDAR, Forest Inventory, Under-Canopy Mapping, SLAM, Open Source Afiliacje autorów:
| Będkowski J. | - | IPPT PAN | | Kulicki M. | - | IPPT PAN | | Stereńczak K. | - | inna afiliacja | | Matecki M. | - | inna afiliacja |
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Będkowski J., Pełka M.♦, Majek K.♦, Matecki M.♦, Method for spherical camera to 3D LiDAR calibration and synchronization with example on Insta360 X4 and LiVOX MID 360,
The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, 2025-06-16/06-18, Warszawa (PL), DOI: 10.5194/isprs-archives-XLVIII-1-W4-2025-13-2025 , pp.13-19, 2025Streszczenie:
This paper introduces a method for 360 camera with 3D LiDAR calibration and synchronization with example on Insta360 X4 and LiVOX MID 360. Both data streams (camera and LiDAR) are recorded separately to reach interoperability, robustness, full resolution, and maximal FPS (Frames Per Second). The novelty is based on LED circle strip illuminating timestamp, thus this information is recorded by camera. The timestamp is presented using gray code utilizing individually addressed LED strips. The data signal for LED is prepared by micro-controller. Microcontroller (ESP-8285) communicates using USB. We incorporated ResNet-18 based binary classifier to classify LEDs. Our method can efficiently assign timestamps with a resolution of 100 ms.
To fulfill the process of 3D point cloud colorization, we implemented camera to LiDAR calibration procedure requiring manually assigning 5 pairs of image to 3D point correspondences. Our method is independent from hardware, thus it can be used also for affordable one making it more accessible and easy to use. Słowa kluczowe:
mobile mapping, sensor synchronization, 360 camera, 3D lidar Afiliacje autorów:
| Będkowski J. | - | IPPT PAN | | Pełka M. | - | Institute of Mathematical Machines (PL) | | Majek K. | - | Institute of Mathematical Machines (PL) | | Matecki M. | - | inna afiliacja |
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