测绘通报 ›› 2019, Vol. 0 ›› Issue (1): 39-43,49.doi: 10.13474/j.cnki.11-2246.2019.0008

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Indoor real 3D mapping based on trolley SLAM and its application

HU Bo1, WEI Shuangfeng1,2,3,4,5, YAN Qiang6, WANG Jingpu6, HUANG He1,3   

  1. 1. School of Geomatics and Urban Spatial Informatics, Beijing University of Civil Engineering and Architecture, Beijing 102616, China;
    2. Engineering Research Center of Representative Building and Architectural Heritage database, Ministry of Education, Beijing 102616, China;
    3. Beijing Advanced Innovation Center for Future Urban Design, Beijing 100044, China;
    4. Key Laboratory for Urban Geomatics of National Administration of Surveying, Mapping and Geoinformation, Beijing 102616, China;
    5. Beijing Key Laboratory for Architectural Heritage Fine Reconstruction & Health Monitoring, Beijing 102616, China;
    6. Nanjing Alphastar Information Technology Co., Ltd., Nanjing 210042, China
  • Received:2018-07-18 Revised:2018-09-10 Online:2019-01-25 Published:2019-02-14

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Abstract: Taking the trolley SLAM mobile mapping system-NavVis as the data acquisition means, this paper briefly introduces its working principle and the technical flow of indoor real-time 3D mapping in details, and realizes the online release of indoor 3D real map. At the same time, two application functions such as POI addition query and indoor navigation path planning are customized for the map. NavVis provides a complete set of solutions from data acquisition, data processing, and network publishing to application. It provides a useful reference for the development of indoor trolley SLAM and the production of high precision 3D real map.

Key words: NavVis, trolley SLAM, 3D mapping, points of interest, path planning

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