Indoor-Outdoor Data Capture System with Sensor Fusion

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Solution Overview

Problem

Existing mobile mapping technologies face challenges in collecting geospatial data indoors and in urban areas due to obstructions that prevent line-of-sight access to Global Navigation Satellite Systems (GNSS), necessitating alternative systems for accurate location and mapping information.

Innovation Solution

A data capture system configured to acquire texture and geometry data, navigation data, and orientation data in both indoor and outdoor environments, utilizing a combination of GNSS, cellular networks, LIDAR sensors, visual odometry, and panoramic imaging to provide seamless 360° coverage, with kinematic alignment and synchronization of sensors to ensure accurate geolocation and georeferencing.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Reliability

If GNSS is used for mobile mapping, then geospatial data acquisition is enabled, but it cannot function through obstructions such as indoors or in urban areas

Engineering Contradiction:

Improvegeospatial data acquisition reliabilityVSAvoidenvironmental adaptability

Core Design Contradiction:

ReliabilityVSAdaptability or versatility

Solution Approach 1:

The system segments the positioning function into multiple independent components: GNSS for outdoor positioning, visual odometry for indoor/obstructed environment positioning, and LIDAR for 3D mapping. Each component operates independently and can be selected based on environmental conditions, resolving the contradiction between reliability and adaptability.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The mobile mapping system integrates multiple sensing systems (GNSS receiver, cameras for visual odometry, LIDAR) into a single universal platform that can operate in both outdoor open-sky environments and indoor/obstructed environments. This multi-functional system maintains positioning and mapping capabilities across diverse environments, simultaneously improving reliability and adaptability.

Inventive Principle:

Principle #6Universality (Multi-functionality)

2Adaptability or versatility

If multiple sensor systems are integrated for seamless indoor and outdoor mapping, then environmental adaptability is improved, but device complexity increases

Engineering Contradiction:

Improveenvironmental adaptabilityVSAvoidsystem complexity

Core Design Contradiction:

Adaptability or versatilityVSDevice complexity

Solution Approach 1:

The system merges GNSS positioning, visual odometry, and LIDAR mapping functions into an integrated mobile mapping platform. By combining these systems with shared processing hardware and unified data structures, the system achieves seamless indoor-outdoor transitions while managing complexity through integration rather than separate independent systems.

Inventive Principle:

Principle #5Merging (Combining)

Solution Approach 2:

The system introduces intermediate processing layers including an inertial measurement unit (IMU) as a mediator between sensors, and a unified processing pipeline that mediates between different data sources. These intermediaries harmonize data from multiple sensors, reducing the complexity of direct multi-sensor integration while maintaining adaptability.

Inventive Principle:

Principle #24Intermediary (Mediator)

3Loss of information

If panoramic imaging and LIDAR are used for comprehensive data capture, then data completeness is improved, but data capture time and resource costs increase

Engineering Contradiction:

Improvedata completenessVSAvoiddata capture time

Core Design Contradiction:

Loss of informationVSLoss of time

Solution Approach 1:

The system implements continuous data capture using panoramic cameras and LIDAR that operate simultaneously throughout movement, eliminating the need for stopping at predetermined survey points. This continuous action captures complete environmental data while reducing total capture time compared to traditional discrete sampling methods.

Inventive Principle:

Principle #20Continuity of useful action

Solution Approach 2:

The system replaces traditional mechanical total station systems with optical and electromagnetic sensing (panoramic imaging and LIDAR). This substitution enables automated continuous data capture without manual intervention, improving data completeness while reducing capture time through automated processing pipelines.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Applied Scientific Principles

This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.

Function Achieved in This Case

Enables accurate and comprehensive data capture in obstructed environments, providing panoramic video and images, improved image quality, and reduced data capture time and resource costs, while maintaining accurate geolocation and georeferencing capabilities.

Implementation Method 1

LIDAR sensors

Methodology Applied

Scientific EffectLIDAR: LIDAR

Implementation Method 2

synchronization of sensors

Methodology Applied

Scientific EffectSynchronization:

Data Source

PatentUS10767975B2Data capture system for texture and geometry acquisition

Publication Date: 2020.09.08 MICROSOFT TECHNOLOGY LICENSING LLC

AI summary

Examples of the present disclosure describe systems and methods for capturing data to acquire indoor and outdoor geometry. In aspects, a data capture system may be configured to acquire texture data, geometry data, navigation data and/or orientation data to support geolocation and georeferencing within indoor and outdoor environments. The data capture system may further be configured to acquire seamless texture data from a 360° horizontal and vertical perspective to support panoramic video and images.