The document discusses Zebedee, a hand-held mobile mapping system. It scanned three floors of a building in 8 minutes, generating a point cloud and path taken. The point cloud was then optimized through an iterative process to produce a globally consistent, semantically informed 3D model in real-time. This system fuses range, image, and other sensor data to build accurate digital representations of the physical world.

1. Zebedee
Hand-held Mobile Mapping

3. Marriot Houston:
Spar International 2012

4. Questacon: Science and
Technology Museum

5. Australian National
War Museum

6. Forest

7. WPI: Odeum Campus Center

8. Scanned 3 floors in 8min
Path taken - side view Path taken – overhead view

9. Plan of 3rd Floor
Room C
Room A+B
Hagglund Room
The blue line represents my path through the building.
Note: that I did not enter the main room (A+B).
Stair well

10. Plan of 2nd floor
Book store
Stair well

11. QCAT: Wblock

12. Match Constraints

13. Smoothness Constraints

14. Optimization

15. Optimization Iteration 2

16. Optimization Iteration 3

17. Optimization Converged

18. Updated Points

19. Predict Next Sweep

20. Optimize again

21. Expanding Real-time Perception
Digital World Real World
Semantic
Information:
Automation
Globally Consistent
Real-time Perception

22. Point-cloud Framework
Colourized range
10mm
Photogrammetry
10m
Hyperspectral
Infrared
SLAM for multi-model / multi-spectral data