Construction of 3D Environment Models by Fusing Ground and Aerial Lidar Point Cloud Data

  • Marco LangerwischEmail author
  • Marc Steven Krämer
  • Klaus-Dieter Kuhnert
  • Bernardo Wagner
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 302)


A lot of research work deals with the building of 3D environment models, e.g. by lidar-based 6D SLAM on ground vehicles. Because these single vehicle approaches always are afflicted by partial occlusion of the environment, we propose to fuse point cloud data taken by ground and aerial vehicles. Therefore, we use manually steered ground and aerial vehicles equipped with localization sensors and laser scanners to record point cloud data. The point cloud data is fused predominantly by existing state-of-the-art algorithms and data formats in ROS. Finally, Octomaps are calculated as common environment models. Two real world experiments in structured and unstructured outdoor environments are presented. The resulting point clouds and maps are evaluated qualitatively and quantitatively.


3D lidar point clouds unmanned aerial vehicles sensor data fusion octomaps 6DoF SLAM 



This work has been supported by the Federal Office of Bundeswehr Equipment, Information Technology and In-Service Support (BAAINBw).


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Copyright information

© Springer International Publishing Switzerland 2016

Authors and Affiliations

  • Marco Langerwisch
    • 1
    Email author
  • Marc Steven Krämer
    • 2
  • Klaus-Dieter Kuhnert
    • 2
  • Bernardo Wagner
    • 1
  1. 1.Leibniz Universität HannoverReal Time Systems Group (RTS)HannoverGermany
  2. 2.University of SiegenInstitute of Real-Time Learning Systems (EZLS)SiegenGermany

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