{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,12]],"date-time":"2026-05-12T04:12:35Z","timestamp":1778559155780,"version":"3.51.4"},"reference-count":38,"publisher":"MDPI AG","issue":"3","license":[{"start":{"date-parts":[[2018,3,9]],"date-time":"2018-03-09T00:00:00Z","timestamp":1520553600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Funda\u00e7\u00e3o de Amparo \u00e0 Pesquisa do Estado de S\u00e3o Paulo (FAPESP)","award":["2013\/50426-4"],"award-info":[{"award-number":["2013\/50426-4"]}]},{"name":"Coordena\u00e7\u00e3o de Aperfei\u00e7oamento de N\u00edvel Superior (CAPES)","award":["88881.135114\/2016-01"],"award-info":[{"award-number":["88881.135114\/2016-01"]}]},{"name":"Academy of Finland (AKA)","award":["273806"],"award-info":[{"award-number":["273806"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>The use of Personal Mobile Terrestrial System (PMTS) has increased considerably for mobile mapping applications because these systems offer dynamic data acquisition with ground perspective in places where the use of wheeled platforms is unfeasible, such as forests and indoor buildings. PMTS has become more popular with emerging technologies, such as miniaturized navigation sensors and off-the-shelf omnidirectional cameras, which enable low-cost mobile mapping approaches. However, most of these sensors have not been developed for high-accuracy metric purposes and therefore require rigorous methods of data acquisition and data processing to obtain satisfactory results for some mapping applications. To contribute to the development of light, low-cost PMTS and potential applications of these off-the-shelf sensors for forest mapping, this paper presents a low-cost PMTS approach comprising an omnidirectional camera with off-the-shelf navigation systems and its evaluation in a forest environment. Experimental assessments showed that the integrated sensor orientation approach using navigation data as the initial information can increase the trajectory accuracy, especially in covered areas. The point cloud generated with the PMTS data had accuracy consistent with the Ground Sample Distance (GSD) range of omnidirectional images (3.5\u20137 cm). These results are consistent with those obtained for other PMTS approaches.<\/jats:p>","DOI":"10.3390\/s18030827","type":"journal-article","created":{"date-parts":[[2018,3,9]],"date-time":"2018-03-09T12:17:41Z","timestamp":1520597861000},"page":"827","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":26,"title":["A Backpack-Mounted Omnidirectional Camera with Off-the-Shelf Navigation Sensors for Mobile Terrestrial Mapping: Development and Forest Application"],"prefix":"10.3390","volume":"18","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-3430-7521","authenticated-orcid":false,"given":"Mariana","family":"Campos","sequence":"first","affiliation":[{"name":"S\u00e3o Paulo State University (UNESP), Presidente Prudente 19060-900, S\u00e3o Paulo, Brazil"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0483-1103","authenticated-orcid":false,"given":"Antonio","family":"Tommaselli","sequence":"additional","affiliation":[{"name":"S\u00e3o Paulo State University (UNESP), Presidente Prudente 19060-900, S\u00e3o Paulo, Brazil"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7236-2145","authenticated-orcid":false,"given":"Eija","family":"Honkavaara","sequence":"additional","affiliation":[{"name":"Remote Sensing and Photogrammetry, Finnish Geospatial Research Institute FGI, Geodeetinrinne 2, FI-02430 Masala, Finland"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7206-1705","authenticated-orcid":false,"given":"Fabricio","family":"Prol","sequence":"additional","affiliation":[{"name":"S\u00e3o Paulo State University (UNESP), Presidente Prudente 19060-900, S\u00e3o Paulo, Brazil"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4796-3942","authenticated-orcid":false,"given":"Harri","family":"Kaartinen","sequence":"additional","affiliation":[{"name":"Remote Sensing and Photogrammetry, Finnish Geospatial Research Institute FGI, Geodeetinrinne 2, FI-02430 Masala, Finland"},{"name":"Department of Geography and Geology, University of Turku, Turku, 20014 Turun yliopisto, Finland"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Aimad","family":"El Issaoui","sequence":"additional","affiliation":[{"name":"Remote Sensing and Photogrammetry, Finnish Geospatial Research Institute FGI, Geodeetinrinne 2, FI-02430 Masala, Finland"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Teemu","family":"Hakala","sequence":"additional","affiliation":[{"name":"Remote Sensing and Photogrammetry, Finnish Geospatial Research Institute FGI, Geodeetinrinne 2, FI-02430 Masala, Finland"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2018,3,9]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"6611","DOI":"10.3390\/rs5126611","article-title":"Indoor localization algorithms for an ambulatory human operated 3D mobile mapping system","volume":"5","author":"Corso","year":"2013","journal-title":"Remote Sens."},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"13753","DOI":"10.3390\/rs71013753","article-title":"Evaluation of a backpack-mounted 3D mobile scanning system","volume":"7","author":"Lauterbach","year":"2015","journal-title":"Remote Sens."},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"992","DOI":"10.1109\/LGRS.2016.2558486","article-title":"An Indoor Backpack System for 2-D and 3-D Mapping of Building Interiors","volume":"13","author":"Wen","year":"2016","journal-title":"IEEE Geosci. 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