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The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences. Vol. XXXVII. Part B5. Beijing 2008 
(a) DTM and contour map 
(b) 3-D view: orthophoto draped on the DTM 
Figure 8. 3-D mapping results 
4. CONCLUSIONS AND FUTURE WORK 
In this paper, we presented a linescan-based panoramic 
scanning system developed as the prototype of a Mobile 
Panoramic Multi-spectral Scanner that employs an off-axis 
camera configuration mode. The system acquires 3-D 
information with uniform accuracy in all directions at each 
depth, and has the potential for rapid onboard processing. This 
system can be used to improve the performance of 3-D mapping, 
navigation and object-detection, all of which are very important 
for time- and energy-limited applications. 
Preliminary 3-D mapping tests were performed to test the 
system and the proposed geometric model of the multi 
perspective panoramas acquired with the prototype. Future 
work will concentrate on the calibration of this system with 
particular emphasis on the mechanical errors in the support 
system. We will continue our work on further assessment of the 
system and the automation of the data processing procedure. 
ACKNOWLEDGEMENTS 
Research Funding from the OSU Office of Research is 
acknowledged. Collaboration with NASA JPL, the Space 
Science Institute, and the German Aerospace Center (DLR) is 
acknowledged. 
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