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For mapping of building interiors various 2D and 3D indoor surveying systems are available today. These systems essentially differ\udfrom each other by price and accuracy as well as by the effort required for fieldwork and post-processing. The Laboratory for\udPhotogrammetry & Laser Scanning of HafenCity University (HCU) Hamburg has developed, as part of an industrial project, a lowcost\udindoor mapping system, which enables systematic inventory mapping of interior facilities with low staffing requirements and\udreduced, measurable expenditure of time and effort. The modelling and evaluation of the recorded data take place later in the office.\udThe indoor mapping system of HCU Hamburg consists of the following components: laser range finder, panorama head (pan-tilt-unit),\udsingle-board computer (Raspberry Pi) with digital camera and battery power supply. The camera is pre-calibrated in a photogrammetric\udtest field under laboratory conditions. However, remaining systematic image errors are corrected simultaneously within the generation\udof the panorama image. Due to cost reasons the camera and laser range finder are not coaxially arranged on the panorama head.\udTherefore, eccentricity and alignment of the laser range finder against the camera must be determined in a system calibration. For the\udverification of the system accuracy and the system calibration, the laser points were determined from measurements with total stations.\udThe differences to the reference were 4-5mm for individual coordinates

the international archives of the photogrammetry, remote sensing and spatial information sciences/international archives of the photogrammetry, remote sensing and spatial information sciences

DEVELOPMENT OF A NEW LOW-COST INDOOR MAPPING SYSTEM – SYSTEM DESIGN, SYSTEM CALIBRATION AND FIRST RESULTS