Lidar and INS fusion in periods of GPS outages for mobile laser scanning mapping systems

Itzik Klein, Sagi Filin

Research output: Contribution to journalConference articlepeer-review


Mobile laser scanning systems are becoming an increasingly popular means to obtain 3D coverage on a large scale. To perform the mapping, the exact position of the vehicle must be known throughout the trajectory. Exact position is achieved via integration of Global Positioning Systems (GPS) and Inertial Navigation Systems (INS). Yet, in urban environments, cases of complete or even partial GPS outages may occur leaving the navigation solution to rely only on the INS. The INS navigation solution degrades with time as the Inertial Measurement Unit (IMU) measurements contains noise, which permeates into the navigation equations. Degradation of the position determination leads to loss of data in such segments. To circumvent such drift and its effects, we propose fusing INS with lidar data by using building edges. This detection of edges is then translated into position data, which is used as an aiding to the INS. It thereby enables the determination of the vehicle position with a satisfactory level accuracy, sufficient to perform the laser-scanning based mapping in those outage periods.

Original languageEnglish
Pages (from-to)231-236
Number of pages6
JournalInternational Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences - ISPRS Archives
Issue number5W12
StatePublished - 3 Sep 2011
Externally publishedYes
EventISPRS Calgary 2011 Workshop on Laser Scanning - Calgary, Canada
Duration: 29 Aug 201131 Aug 2011


  • Inertial Navigation Systems
  • Lidar
  • Urban navigation

ASJC Scopus subject areas

  • Information Systems
  • Geography, Planning and Development


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