current developments in the hcu mobile mapping … · current developments in the hcu mobile...
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Current developments in the HCU Mobile
Mapping System and its use in research and
teaching
Friedrich Keller, Sören Leitz, Gordeon Thie, Steffen Kagerah
and Harald Sternberg
Geomatik | HafenCity Universität
Navigation in buildings
Motivation Concept Teaching Research Conclusion
• Where can we get the map data?
XXV International Federation of Surveyors
Congress, Kuala Lumpur, Malaysia, 16 – 21
June 2014
Idea for getting indoor navigation data
Motivation Concept Teaching Research Conclusion
XXV International Federation of Surveyors
Congress, Kuala Lumpur, Malaysia, 16 – 21
June 2014
Concept for the Multi Sensor System
Z+F 5010 IMAR RQH 1003
Odometer
Novatel OEMV
2 video
cameras
Sick LMS 151 Leica TPS 1201+
Motivation Concept Teaching Research Conclusion
XXV International Federation of Surveyors
Congress, Kuala Lumpur, Malaysia, 16 – 21
June 2014
Concept for research and teaching
Motivation Concept Teaching Research Conclusion
XXV International Federation of Surveyors
Congress, Kuala Lumpur, Malaysia, 16 – 21
June 2014
Teaching
• Outdoor
– 1 x MA Configuration of the system
– 1 x BA Calibration of the system
– 1 x BA Testing “structure from motion”
• Indoor/Outdoor
– 1 x MA Calibration of the stereo camera system
• Use in lectures
– Integrated navigation
Motivation Concept Teaching Research Conclusion
XXV International Federation of Surveyors
Congress, Kuala Lumpur, Malaysia, 16 – 21
June 2014
Outdoor configuration for teaching
• „Standard“ Mobile Lidar System (MLS)
• Commercial software for trajectory processing Novatel Inertial Explorer
• Point cloud processing with solutions from students
• Configuration and calibration as content of teaching
Z+F 5010 IMAR RQH 1003 OdometerNovatel OEMV
Motivation Concept Teaching Research Conclusion
XXV International Federation of Surveyors
Congress, Kuala Lumpur, Malaysia, 16 – 21
June 2014
Calibration
• Only system calibration
• DOF 7
– Leverarm (3DOF)
– Roll
– Pitch
– Yaw
– Time
• Achievable accuracy
lower cm range
Motivation Concept Teaching Research Conclusion
XXV International Federation of Surveyors
Congress, Kuala Lumpur, Malaysia, 16 – 21
June 2014
Stereo camera system
• Master thesis about calibration and visual odometry
Motivation Concept Teaching Research Conclusion
XXV International Federation of Surveyors
Congress, Kuala Lumpur, Malaysia, 16 – 21
June 2014
Structure from motion tests
Motivation Concept Teaching Research Conclusion
XXV International Federation of Surveyors
Congress, Kuala Lumpur, Malaysia, 16 – 21
June 2014
Indoor configuration for research
• Developed from existing outdoor system
• Replace GPS as position- und time system
– Position by total station
– Time by IMU
• Own processing of trajectories required
Z+F 5010IMAR RQH 1003 Odometer Leica TPS 1201+
Motivation Concept Teaching Research Conclusion
XXV International Federation of Surveyors
Congress, Kuala Lumpur, Malaysia, 16 – 21
June 2014
Indoor setup with total station
-250 -200 -150 -100 -50 0 50 100 150 200 250-0.2
0
0.2
0.4
0.6
0.8
1Correlation
time[sec]
Cor
rela
tion
20 40 60 80 100 120 140 160 180-100
0
100
200
300
400
500
600
700
800
900
1000Velocity
time[sec]
[mm
/s]
LasertrackerOdometer
Motivation Concept Teaching Research Conclusion
XXV International Federation of Surveyors
Congress, Kuala Lumpur, Malaysia, 16 – 21
June 2014
Indoor setup with total station
0 50 100 150 200 250-500
0
500
1000
1500
2000
2500
3000
3500
4000
[sek]
[mm
/sek
]
TPS VecocityOdometercorrected
Motivation Concept Teaching Research Conclusion
XXV International Federation of Surveyors
Congress, Kuala Lumpur, Malaysia, 16 – 21
June 2014
Indoor setup with total station
without total station RMS 35mm
with total station RMS 14mm
0 20 40 60 80 100 120 140 160 180 200-150
-100
-50
0
50
100
150
[sek]
[mm
]
Differenz zwischen LT und Filterlösung mit Glättung
xyz
Motivation Concept Teaching Research Conclusion
XXV International Federation of Surveyors
Congress, Kuala Lumpur, Malaysia, 16 – 21
June 2014
Conclusion
• Good experience with this concept
• The students are open to new technologies
• Student’s work for this year– 1 x MA Total station timing
– 4 x BA • SLAM
• Calibration low-cost scanner
• Uncertainty of point clouds
• Low-cost IMUs
Motivation Concept Teaching Research Conclusion
XXV International Federation of Surveyors
Congress, Kuala Lumpur, Malaysia, 16 – 21
June 2014
friedrich.keller@hcu-hamburg.de
Precise indoor mapping as a basis for coarse indoor navigation
(Journal of Applied Geodesy, October 2013)
Multi-sensor platform for indoor mobile mapping system
calibration and using a total station for indoor applications
(Remote Sensing. 2013; 5(11):5805-5824)
XXV International Federation of Surveyors
Congress, Kuala Lumpur, Malaysia, 16 – 21
June 2014
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