  In a complex urban scene, observation from a single sensor unavoidably leads
to voids in observations, failing to describe urban objects in a comprehensive
manner. In this paper, we propose a spatio-temporal-spectral-angular
observation model to integrate observations from UAV and mobile mapping vehicle
platform, realizing a joint, coordinated observation operation from both air
and ground. We develop a multi-source remote sensing data acquisition system to
effectively acquire multi-angle data of complex urban scenes. Multi-source data
fusion solves the missing data problem caused by occlusion and achieves
accurate, rapid, and complete collection of holographic spatial and temporal
information in complex urban scenes. We carried out an experiment on Baisha
Town, Chongqing, China and obtained multi-sensor, multi-angle data from UAV and
mobile mapping vehicle. We first extracted the point cloud from UAV and then
integrated the UAV and mobile mapping vehicle point cloud. The integrated
results combined both the characteristic of UAV and mobile mapping vehicle
point cloud, confirming the practicability of the proposed joint data
acquisition platform and the effectiveness of spatio-temporal-spectral-angular
observation model. Compared with the observation from UAV or mobile mapping
vehicle alone, the integrated system provides an effective data acquisition
solution towards comprehensive urban monitoring.
