Localization of a mobile laser scanner via dimensional reduction

Tutkimustuotos: Lehtiartikkelivertaisarvioitu

Tutkijat

Organisaatiot

  • University of Würzburg
  • Finnish Geospatial Research Institute

Kuvaus

We extend the concept of intrinsic localization from a theoretical one-dimensional (1D) solution onto a 2D manifold that is embedded in a 3D space, and then recover the full six degrees of freedom for a mobile laser scanner with a simultaneous localization and mapping algorithm (SLAM). By intrinsic localization, we mean that no reference coordinate system, such as global navigation satellite system (GNSS), nor inertial measurement unit (IMU) are used. Experiments are conducted with a 2D laser scanner mounted on a rolling prototype platform, VILMA. The concept offers potential in being extendable to other wheeled platforms.

Yksityiskohdat

AlkuperäiskieliEnglanti
Sivut48-59
Sivumäärä12
JulkaisuISPRS Journal of Photogrammetry and Remote Sensing
Vuosikerta121
TilaJulkaistu - 1 marraskuuta 2016
OKM-julkaisutyyppiA1 Julkaistu artikkeli, soviteltu

ID: 9073743