In this research, we propose an automatic 3D mapping system based on multi-sensor integration that is a combination of IMU (FOG), GPS, laser scanner and digital camera. An automatic mapping means that direct geo-referencing is achieved automatically without any ground control points, which accurately measures ground coordinate values. 3D model is reconstructed by laser scanner as 3D point cloud data, while texture is acquired by digital camera from the same platform simultaneously. The accurate trajectory of the platform with attitude changes is determined through the integration of GPS/IMU and digital camera. All the measurement tools are loaded on the unmanned helicopter, RPH2, which is made by Fuji Heavy Industries Ltd. A method of 3D mapping by integrating all the sensors from an unmanned helicopter is focused in this paper.
