1-3-2 
Table 1. Overview Of Mobile Mapping System(C.Tao, 1998) 
System 
Developer/Researcher 
Navigation sensors 
Mapping sensors 
GeoVAN 
Geospan Corp.,USA 
GPS/DR 
10VHS,voice recorder 
GPS Van 
The Ohio State University, USA 
GPS/Gyro/Wheel 
counter 
2 CCD, Voice recorder 
GPS Vision 
Lambda Tech. Int. Inc.USA 
GPS/INS 
2 Color CCD Optical disc 
Kiss 
Univ. of Bundeswher Munich and 
GeoDigital, Germany 
GPS/IMU/Inclination 
Odometer/Barometer 
ISVHS, 2 BW CCD, 
Voice recorder 
ON-SIGHT 
TransMap Corp.,USA 
GPS/INS 
4 Color CCD 
RGIAS 
Rowe Surveying and Engg, Inc USA 
GPS 
Video, Laser 
TruckMAP 
John E. Chance and Engg Inc.,USA 
GPS/Gyro/AVA- 
DGPS 
Laser range finder, 1 
video camera 
VISAT 
The Univ. of Calgary and 
Geofit., Canada 
GPS/INS/ABS 
8 BW CCD 1 color 
SVHS 
2 SYSTEM HARD WARE OF WUMMS 
Figure 1 shows a schematic diagram of WUMMS 
hardware configuration. The system consists of an 
industrial computer, TV-cameras, a video switch, an 
image process board, a laser Range finder, GPS, sensors 
about environment, a LCD monitor and power units. 
Figure2 is the outside photo showing this design. 
Figure 3 is the inside photo (the LCD monitors and the 
interface). 
Figure. 1 Schematic diagram of WUMMS hardware configuration 
Some main parts of this system are discussed below. 
2.1 The Image Collecting System 
The image collecting system includes 3 video cameras, 
a video switch and an image process board. The 
function of the image process board is to realize the A/D 
transference. The image sensor of cameras is 1/2” frame 
transfer CCD . A sampling frequency of 25 HZ is 
obtained both by increased clock -frequency and by 
reading only half of the lines of an interlaced image, 
resulting in a resolution of 288 lines of 768 pixels wide. 
The cameras are operated with an electronic shutter. 
This feature provides good suppression of background 
light and prevents movement blur in the image. The 
analog output signal of the cameras is converted to 8 bit 
image by the image process board subsequently, and the 
digital image enters computer through PCI bus on real 
time. Two different acquisition programs exist; one for 
2D collection of data (one camera working ), which 
stores data to file for post- processing, and one for real 
time 3D reconstruction and tracking(two cameras 
working), which can either output data to another device 
of store it on disk. The specifications of cameras are 
shown in Table 2. The specifications of image process 
board are shown in Table 3.