The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences. Vol. XXXVII. Part B5. Beijing 2008 
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Figure 4. Classification of research items 
2.3 Work Breakdown Structure 
All the tasks required for this project are divided into three 
sectors, aerial sector, ground sector and general sector. Main 
tasks of each sector are presented in Figure 5. Details of the 
main tasks under each sector are listed in Table 1-3. 
Object 
Content 
Integrate & Test 
■ Select a vehicle & Frame design 
■ Loading the sub-systems 
■ Integration test 
Sub-system 
Construction 
■ Data reception sub-system 
■ Order transmission sub-system 
■ Real-time storage sub-system 
■ Data forwarding sub-system 
■ Integrated interface SW 
Position & Attitude 
Determination SW 
■ Based on GPS/IMU 
■ Based on GPS/IMU/image 
matching 
Geo-referencing 
SW 
■ Automatic image matching 
■ image geo-referencing 
■ Laser scanning data geo- 
referencing 
Automatic 
Generation of 
Information SW 
■ Automatic generation of 
DSM/DEM 
■ Automatic generation of ortho 
images 
■ Automatic change detection 
Table 2. Tasks under ground sector 
Figure 5. Work Breakdown Structure 
Object 
Content 
Integration & Test 
■ Mechanical frame design 
■ Mounting the sensors & modules 
■ Registration & Calibration 
Introduction of 
sensors & platform 
■ Laser Scanner 
■ Digital Camera 
■ GPS 
■ MEMSIMU 
■ UAV Platform 
Development of on 
board computer 
■ Time Synchronization 
■ Sensor control 
■ Data interface 
■ Data compression 
Development of 
other modules 
■ Transmission module 
■ Storage module 
■ Stabilization module (HW) 
■ Stabilization module (SW) 
Table 1. Tasks under aerial sector 
Object 
Content 
System design 
■ Set scenarios for applications 
■ Set up requirements of sub-systems 
■ Simulation 
Integration test 
■ Set the Area Of Interest 
■ Build standard data 
■ Establish the testbed 
• Set scenario for test 
■ Test & analysis of the results 
Public relations & 
Commercialization 
■ Domestic and abroad market 
survey 
■ Domestic and abroad tech, survey 
* Public relations 
■ Commercialization 
Project 
management 
■ Management of Products 
■ Management of Budget & 
Schedule 
■ Consultation & Reports 
■ Interaction with other projects 
Table 3. Tasks under general sector 
2.4 Applications 
The applications of the real-time aerial mapping system to be 
developed in our project are categorized into three main fields, 
crisis management, reconnaissance and surveillance, and geo 
spatial data acquisition. Among these fields, the crisis 
management has the first priority of the system usage. The best 
merit of the system is the rapid generation of spatial 
information of the areas where ones can hard to access. When 
disasters or accidents occur, based on the 3D geo-spatial data on 
the areas using our system we can rapidly dispatch a relief 
squad to areas and also restore the damage area. Figure 6 shows 
main applications under crisis management requiring