This paper presents a novel approach for sensor fusion of robotic total station (RTS) and inertial navigation system (INS) to enable 6-degree-of-freedom (6DoF) pose estimation. Tight coupling of a spherical measurement model for RTS is developed, providing advantages over the traditional cartesian 3D-position measurement model, including supporting INS solution when distance measurements are unavailable and performing outlier...

The establishment of the terrestrial laser scanner changed the analysis strategies in engineering geodesy from point-wise approaches to areal ones. During recent years, a multitude of developments regarding a laser scanner-based geometric state description were made. However, the areal deformation analysis still represents a challenge. In this paper, a spatio-temporal deformation model is developed, combining the estimation of...