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International Archives of the Photogrammetry, Remote Sensing 
  
Figure 11: Comparison of 1:1000 map with the laser points. 
in RGB (above) and colour coded elevation representation 
(below) 
5. SUMMARY 
This report describes the integration of a terrestrial laser 
scanner on the Geomóbil mobile mapping system developed 
at ICC. The critical points of the integration are described, 
including the laser synchronization and the system 
calibration. 
The calibration procedure described in the paper allowed the 
determination of the IMU/laser offset with a formal accuracy 
of 0.006 m and the determination of the misalignment matrix 
with a formal accuracy of 12-34 arcseconds. 
and Spatial Information Sciences, Vol XXXV, Part B7. Istanbul 2004 
995 
The direct orientation of a terrestrial laser opens the 
possibility to use the sensor as a pushbroom sensor that is 
able to scan crossroad sections and buildings façades while 
the vehicle is moving. Assuming a good GPS coverage and a 
good orientation determination, the dynamic laser survey 
showed RMS differences of 0.18 m in Easting, 0.35 m in 
Northing and 0.13 m in the vertical component compared to 
1:1000 city maps. 
In order to fully exploit the integration of a terrestrial laser 
scanner in a mobile mapping frame further developments are 
necessary including building reconstruction by processing 
the laser point cloud and improving the orientation accuracy 
in urban areas. 
REFERENCES 
Alamüs,R., Baron,A., Bosch,E., Casacuberta,J., Miranda,J., 
Pla,M., Sànchez,S., Serra,A., Talaya,J., 2004. On the accuray 
and performance of the Geomobil system. XXth ISPRS 
Congress Geo-Imagery Bridging Continents, 12-23 July 
2004. Istanbul, Turkey. 
Lindenberger,J., 1093. Laser-Profilmessung Zur 
topographischen  Geländeaufnahme. PhD dissertation, 
Deutsche Geodätische Kommission bei der Bayerischen 
Akademie der Wissenschaften, Reihe C, Heft Nr. 400. 
Riegl Laser Measurements Systems GmbH 2001. Laser 
Mirror Scanner LMS-Z210 Technical documentation. and 
User's Instructions. 
Talaya,J. Bosch,E., Alamus,R., Serra,A., Baron,A., 2004. 
Geomóbil: the Mobile Mapping System from the ICC 
4‘International Symposium on Mobile Mapping Technology 
(MMT'2004). 29-31 March, 2004. Kunming, China.