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[IEEE IGARSS 2018 - 2018 IEEE International Geoscience and Remote Sensing Symposium - Valencia (2018.7.22-2018.7.27)] IGARSS 2018 - 2018 IEEE International Geoscience and Remote Sensing Symposium - Bias Impact Analysis and Calibration of Uav-Based Mobile Lidar System
摘要： Over the past few years, developments in mobile mapping technology, specifically Unmanned Aerial Vehicles (UAVs), have made accurate 3D mapping more feasible, thus emerging as an economical and practical mobile mapping platform. LiDAR-based UAV mapping systems are gaining widespread recognition as an efficient and cost-effective technique for rapid collection of 3D geospatial data. To derive point clouds with high positional accuracy, estimation of mounting parameters relating the laser scanners to the onboard GNSS/INS unit is the foremost and necessary step. In this paper, we first devise an optimal flight and target configuration by conducting a rigorous theoretical analysis of the potential impact of bias in mounting parameters of a LiDAR unit on the resultant point cloud. Then, we propose a LiDAR system calibration strategy that can directly estimate the mounting parameters for spinning multi-beam laser scanners onboard a UAV through an outdoor calibration procedure.
关键词： multi-beam laser scanners,UAV,GNSS/INS,mounting parameters,LiDAR
更新于2025-09-23 15:22:29
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[IEEE 2018 IEEE International Conference on Automation/XXIII Congress of the Chilean Association of Automatic Control (ICA-ACCA) - Concepcion, Chile (2018.10.17-2018.10.19)] 2018 IEEE International Conference on Automation/XXIII Congress of the Chilean Association of Automatic Control (ICA-ACCA) - Mobile LiDAR Scanner for the Generation of 3D Georeferenced Point Clouds
摘要： Mobile laser scanning systems are a modern tool used by leading companies in surveying. These systems are capable of making a three-dimensional reconstruction of the environment by capturing thousands of aligned points. This article describes a hardware and software-based solution for a 3D LiDAR scanner capable of generating a georeferenced point cloud. This solution uses an integrated microcomputer-based hardware architecture, integration of navigation components and data logging. In addition, the effect caused by the measurement errors of the inertial sensors is displayed. To minimize these undesired effects, the use of high-precision navigation system is necessary. For the estimation of the position and orientation of the data captured by the LiDAR sensor, a non-linear interpolation is used for the oversampling of navigation data. Likewise, the scientific problem of direct georeferencing is modeled with a mathematical approach to conventional robotic structure. The product developed meets the technical requirements for most applications in topographic surveys and structural modeling. The system is portable on multiple platforms such as land vehicles and unmanned aerial vehicles.
关键词： point cloud,LiDAR,georeferencing,INS,MLS,hardware
更新于2025-09-23 15:22:29
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[IEEE 2018 IEEE Conference on Virtual Reality and 3D User Interfaces (VR) - Tuebingen/Reutlingen, Germany (2018.3.18-2018.3.22)] 2018 IEEE Conference on Virtual Reality and 3D User Interfaces (VR) - AR in a Large Area Through Instance Recognition with Hybrid Sensors
摘要： This paper presents the concept of instant recognition with access points and vision for realizing time in a large indoor environment. The proposed method consists of constructing a database from data of various viewpoints and angles while taking images of the same object, and instant recognition through vision by comparing the input image with the database. The proposed method was evaluated through experiments, and the results show that recognition accuracy and computational time are less than our previous work using only vision.
关键词： INS,Affinity Propagation,Access Point,Image Retrieval
更新于2025-09-19 17:15:36
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Application of GNSS/INS and an Optical Sensor for Determining Airplane Takeoff and Landing Performance on a Grassy Airfield
摘要： The performance of a PZL 104 Wilga 35A airplane was determined and analyzed in this work. Takeo? and landing distances were determined by means of two di?erent methods: one which utilized a Global Navigation Satellite System/Inertial Navigation System (GNSS/INS) sensor and another in which airplane ground speed was measured with the use of an optical non-contact sensor. Based on the air?eld measurements, takeo? and landing distances as well as rolling resistance coe?cients were determined for the used airplane on a grassy runway at the Radawiec air?eld, located near Lublin, southeast Poland. The study was part of the “GARFIELD” project that is expected to deliver an online information system on grassy air?eld conditions. It was concluded that both sensors were suitable for the aimed research. The results obtained in this study showed the e?ects of high grass upon the takeo? and landing performances of the test airplane. Also, the two methods were compared against each other, and the ?nal results were compared to calculations of ground distances by means of the chosen analytical models.
关键词： grassy air?eld,rolling resistance coe?cient,optical sensor,landing and takeo? distances,measurement,GNSS/INS sensor,air?eld performance
更新于2025-09-12 10:27:22
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[IEEE IGARSS 2018 - 2018 IEEE International Geoscience and Remote Sensing Symposium - Valencia, Spain (2018.7.22-2018.7.27)] IGARSS 2018 - 2018 IEEE International Geoscience and Remote Sensing Symposium - UAV-BASED INTEGRATED MULTISENSOR PAYLOAD FOR HIGH RESOLUTION IMAGING
摘要： This paper describes the development of a multisensor UAV-based imaging platform. A sensor package consisting of a LiDAR, imaging spectrometer, and RGB camera were integrated with an inertial navigation system. This package is currently being flown on a hexacopter. A number of data acquisition missions have been conducted with this platform, including the imaging of a small active rotational mass movement, a wetland estuary, and several vineyards.
关键词： SfM point cloud,UAV,imaging spectrometer,LiDAR,INS
更新于2025-09-10 09:29:36
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[IEEE 2018 IEEE International Conference on Vehicular Electronics and Safety (ICVES) - Madrid, Spain (2018.9.12-2018.9.14)] 2018 IEEE International Conference on Vehicular Electronics and Safety (ICVES) - Development of Robust Validation Method through Driverless Test for Vision-based Oncoming Vehicle Collision Avoidance System
摘要： This paper presents a robust validation test method to prove and improve the oncoming vehicle collision avoidance systems. This system is developed to reduce traffic accidents while a driver's vehicle crashes into an oncoming vehicle out of its lane. It consists of a front camera on the windshield to detect the vehicle on the other side and an electric power steering to control the host vehicle to prevent head-on collision. It requires high performance for planning and controlling accurate avoidance path at close distance at the right time. Thus, safe and accurate validation vehicle test method is essential to develop the high quality system and determine the performance. The proposed validation test method includes robust vehicle test scenarios with test specification, vehicle test equipment based on automated robots and detailed analysis method for system performance. The robust test scenarios with test specification are developed to prove robustness of the system and seek weakness points from diverse conditions on the road and test specifications. The vehicle robots based on GPS/INS are utilized to conduct validation tests safely, repeatedly and accurately as the designed the test scenarios. Overall, the suggested analysis method determines the reliability of robot tests by the error distribution of the dynamics and avoidance performance of the system through estimating internal errors of the components which cause errors of the avoidance system. The vehicles tests using presented robust test scenarios and driverless tests based on vehicle robots are conducted repeatedly to prove the robustness of the system thoroughly. The results of vehicle tests show the proposed method is powerful to validate the system and present proper value of design parameters applied to optimal avoidance path to improve the performance under the robust environment.
关键词： brake robot,analysis method,Oncoming vehicle collision avoidance system,steering robot,GPS/INS,validation method,acceleration robot
更新于2025-09-10 09:29:36
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Feature article: Implementation and performance evaluation of optical flow navigation system under specific conditions for a flying robot
摘要： Honeybees land on a flower [1], [2], estimate traveled distance [3], and avoid obstacles [4] merely based on optical flow (OF) reckonings. Like OF reckoning, OF navigation used in flying robots uses biological and computer vision activities to estimate distance and avoid obstacles. Currently, most flying robots use Global Navigation Satellite System (GNSS)/inertial navigation system (INS) integration for navigation/positioning purposes. Navigation is defined as estimation/determination of the position, velocity, and orientation of a vehicle. If the position alone is considered, it is called positioning/localization data and is one input for guidance and control systems in a flight computer [5]. Accuracy and safety during an autonomous flight rely heavily on the positioning data. However, under indoor and in some outdoor environments similar to dense forests and caves, GNSS signals are not accessible or dependable [6]. In environments like this, without any supplemental sensing devices, flying robots are routinely incapable of sensing and collision avoidance. For this reason, the use of such systems is not appropriate for indoor and outdoor spaces where GNSS signals are not reliable/available.
关键词： INS,GNSS,flying robot,navigation system,optical flow
更新于2025-09-04 15:30:14