This paper describes initial results for a laser-based aerial mapping system. Our approach applies a real-time laser scan matching algorithm to 2-D range data acquired by a remotely controlled helicopter. Results obtain for urban and natural terrain exhibit an unprecedented level of spatial detail in the resulting 3-D maps.
@INPROCEEDINGS{Thrun03c,
AUTHOR = {Thrun, S. and Diel, Mark and H\"{a}hnel, D.},
TITLE = {Scan Alignment and 3D Surface Modeling with a Helicopter Platform},
YEAR = {2003},
BOOKTITLE = {Proceedings of the International Conference on Field and Service Robotics},
ADDRESS = {Lake Yamanaka, Japan}
}