current developments in the hcu mobile mapping … · current developments in the hcu mobile...
TRANSCRIPT
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
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