IMPROVED UAV-BORNE 3D MAPPING BY FUSING OPTICAL AND LASERSCANNER DATA
IMPROVED UAV-BORNE 3D MAPPING BY FUSING OPTICAL AND LASERSCANNER DATA
复制标题
通过融合光学和激光扫描仪数据改进无人机载 3D 测绘
DOI：
10.5194/isprsarchives-xl-1-w2-223-2013
复制
发表时间：
2013
期刊：
影响因子：
--
通讯作者：
J. Meidow
中科院分区：
文献类型：
--
作者：
B. Jutzi;M. Weinmann;J. Meidow
抽象的。本文提出了一种新的方法，融合光学和激光扫描数据的无人机机载三维测绘的改进。我们建议为无人机（UAV）配备一个小型平台，该平台包括两个传感器：一个标准的低成本数码相机和一个轻型Hokuyo UTM-30 LX-EW激光扫描设备（210 g，无电缆）。首先，对所使用的设备进行校准。这涉及到几何摄像机校准和估计的位置和两个传感器之间的取向偏移的双臂和孔瞄准校准。随后，通过考虑提取的兴趣点以及投影的3D激光点，通过图像序列执行特征跟踪。这些2D结果与测得的激光距离融合，并送入光束法平差，以获得同步定位和测绘（SLAM）。结果表明，通过融合光学和激光扫描仪数据，位姿估计的精度得到了提高。
Abstract. In this paper, a new method for fusing optical and laserscanner data is presented for improved UAV-borne 3D mapping. We propose to equip an unmanned aerial vehicle (UAV) with a small platform which includes two sensors: a standard low-cost digital camera and a lightweight Hokuyo UTM-30LX-EW laserscanning device (210 g without cable). Initially, a calibration is carried out for the utilized devices. This involves a geometric camera calibration and the estimation of the position and orientation offset between the two sensors by lever-arm and bore-sight calibration. Subsequently, a feature tracking is performed through the image sequence by considering extracted interest points as well as the projected 3D laser points. These 2D results are fused with the measured laser distances and fed into a bundle adjustment in order to obtain a Simultaneous Localization and Mapping (SLAM). It is demonstrated that an improvement in terms of precision for the pose estimation is derived by fusing optical and laserscanner data.
登记。
DOI：
10.1007/978-1-4939-7647-8_1
发表时间：
2018
期刊：
Neuromethods
影响因子：
--
作者：
Joshi,AnandA
通讯作者：
Joshi,AnandA