无人机与人员定位系统协同，实现室内外三维模型无缝拼接。
Seamless Indoor-Outdoor Mapping for INGENIOUS First Responders
- 无人机识别标记并全球定位，传输坐标给地面系统。
- 地面系统通过标记注册，生成与外部点云对齐的室内点云。
- 无需额外定位，实时融合室内外数据，适合应急救援使用。
在大型自然或人为灾害中，提升应急响应人员能力需同时获取室外和室内空间的三维模型。本文提出一种高度自动化的解决方案：将自主飞行的空中测绘系统与人员携带的室内定位系统结合。通过自动识别的AprilTags标记，空中系统将其地理坐标传至地面系统。进入建筑前，地面系统通过识别这些标记完成世界坐标系注册，无需依赖全局定位系统，即可生成与航拍点云精确匹配的室内点云。该方法支持室内外点云的实时融合，构建无缝的三维模型，为应急响应提供直观的空间信息可视化。
原文摘要 · Abstract (English)
In several applications it is desired to have 3D models not only from the outdoor spaces but also from inside the building. In the context of First Responder enhancement in large scale natural and man-made disasters, a method is presented to achieve this goal with a high degree of automation. Therefore an autonomously flying aerial mapping system is combined with a person-carried indoor positioning system. Automatically recognized markers (AprilTags) are geo-referenced by the aerial system and their coordinates are sent to the ground-based system. By looking at the AprilTags before entering the building, the ground-based system is registered to world coordinates. Without the further need of any global positioning, it creates a point cloud from the indoor spaces that fits with the point could from the aerial view. This allows a co-visualization of both point-clouds as a seamless indoor-outdoor 3D model in real time.
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