Integrierte Georeferenzierung für bildgebende Systeme mit sequentieller Datenakquisition

具有顺序数据采集功能的成像系统集成地理配准

• 批准号: 223861662
• 负责人: Professor Dr. Hans-Gerd Maas
• 金额: --
• 依托单位: Institut für Photogrammetrie und Fernerkundung
• 依托单位国家: 德国
• 项目类别: Research Grants
• 财政年份: 2012
• 资助国家: 德国
• 起止时间: 2011-12-31 至 2016-12-31
• 项目状态: 已结题
• 来源: https://gepris.dfg.de/gepris/projekt/223861662?language=en
• 关键词: Integrierte; Georeferenzierung; bildgebende; Systeme; mit

The goal of the project is the development of methods for an integrated georeferencing of laserscanner and camera data acquired from a moving platform. While the processing of the laserscanner and camera data allows for internal centimeter-accuracy, the vehicle position and attitude sensorics will often be much less precise and will thus not allow for adequate georeferencing. This is typical for areas such as mobile robotics or UAVs (unmanned aerial vehicles). The georeferencing process is further impeded by high requirements concerning the temporal resolution of the trajectory representation due to the sequential manner of laserscanner data acquisition.Therefore, the platform position and orientation parameters shall be determined by an integrated bundle adjustment procedure. Due to the lack of temporal resolution, the bundle adjustment cannot purely be based on the camera images. Instead, a time-resolved parameterized platform trajectory is introduced as an unknown into the adjustment. The trajectory determination is supported by introducing laserscanner measurements in the integrated bundle adjustment. Integrating image and laserscanner data in a bundle adjustment procedure also requires the development of techniques for the determination of homologous features in the image and laserscanner data as well as the development of stochastic models for an adaptive balancing of the weights of the different observation classes.

该项目的目标是开发从移动平台获取的激光扫描仪和相机数据的集成地理配准方法。虽然激光扫描仪和摄像机数据的处理允许内部厘米级精度，但车辆位置和姿态传感器通常不太精确，因此无法进行足够的地理配准。这对于移动机器人或 UAV（无人驾驶飞行器）等领域来说是典型的。由于激光扫描仪数据采集的顺序方式，对轨迹表示的时间分辨率的高要求进一步阻碍了地理配准过程。因此，平台位置和方向参数应通过集成束平差程序来确定。由于缺乏时间分辨率，束调整不能纯粹基于相机图像。相反，将时间分辨的参数化平台轨迹作为未知数引入调整中。通过在集成束调整中引入激光扫描仪测量来支持轨迹确定。将图像和激光扫描仪数据集成到束调整过程中还需要开发用于确定图像和激光扫描仪数据中的同源特征的技术，以及开发用于自适应平衡不同观测类别的权重的随机模型。

项目成果

Integrated Georeferencing of LiDAR and Camera Data Acquired from a Moving Platform

从移动平台获取的 LiDAR 和相机数据的集成地理配准

• DOI: 10.5194/isprsarchives-xl-3-191-2014
• 发表时间: 2014-08-11
• 期刊: ISPRS - International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences
• 作者: F. Liebold;H. Maas
• 通讯作者: H. Maas

AN INTEGRATED FLEXIBLE SELF-CALIBRATION APPROACH FOR 2D LASER SCANNING RANGE FINDERS APPLIED TO THE HOKUYO UTM-30LX-EW

适用于 HOKUYO UTM-30LX-EW 的二维激光扫描测距仪的集成灵活自校准方法

• DOI: 10.5194/isprsarchives-xl-5-385-2014
• 发表时间: 2014
• 期刊: ISPRS - International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences
• 作者: Mader; D.; Westfeld; P.; Maas; H.
• 通讯作者: H.