Integrierte Georeferenzierung für bildgebende Systeme mit sequentieller Datenakquisition

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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.