Fusing Multiple Sensors for Outdoor-Indoor Mapping

Due to recent developments in the field of autonomous systems, pedestrian navigation, and Building Information Modeling, increasing interest in 3D indoor maps has been observed. One of the main challenges in indoor modeling is registration with outdoor models.

A possible solution is seamless outdoor-indoor mapping using a mobile system operating well in both environments. In this project we study and develop different approaches to achieve a consistent and seamless outdoor-indoor mapping by fusing multiple sensor information such as LiDAR, IMU and cameras.