handouts

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
• Where can we get the map data?
Motivation
Concept
XXV International Federation of Surveyors
Congress, Kuala Lumpur, Malaysia, 16 – 21
Teaching
Research
June 2014
Conclusion
Idea for getting indoor navigation data
Motivation
Concept
XXV International Federation of Surveyors
Congress, Kuala Lumpur, Malaysia, 16 – 21
Teaching
Research
June 2014
Conclusion
Concept for the Multi Sensor System
Novatel OEMV
Z+F 5010
IMAR RQH 1003
2 video
cameras
Odometer
Leica TPS 1201+
Sick LMSXXV
151
International Federation of Surveyors
Motivation
Concept
Congress, Kuala Lumpur, Malaysia, 16 – 21
Teaching
Research
June 2014
Conclusion
Concept for research and teaching
Motivation
Concept
XXV International Federation of Surveyors
Congress, Kuala Lumpur, Malaysia, 16 – 21
Teaching
Research
June 2014
Conclusion
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
XXV International Federation of Surveyors
Congress, Kuala Lumpur, Malaysia, 16 – 21
Teaching
Research
June 2014
Conclusion
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
Motivation
Novatel OEMV
Concept
IMAR RQH 1003
XXV International Federation of Surveyors
Congress, Kuala Lumpur, Malaysia, 16 – 21
Research
Teaching
June 2014
Odometer
Conclusion
Calibration
• Only system calibration
• DOF 7
–
–
–
–
–
Leverarm (3DOF)
Roll
Pitch
Yaw
Time
• Achievable accuracy
lower cm range
Motivation
Concept
XXV International Federation of Surveyors
Congress, Kuala Lumpur, Malaysia, 16 – 21
Teaching
Research
June 2014
Conclusion
Stereo camera system
• Master thesis about calibration and visual odometry
Motivation
Concept
XXV International Federation of Surveyors
Congress, Kuala Lumpur, Malaysia, 16 – 21
Teaching
Research
June 2014
Conclusion
Structure from motion tests
Motivation
Concept
XXV International Federation of Surveyors
Congress, Kuala Lumpur, Malaysia, 16 – 21
Teaching
Research
June 2014
Conclusion
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
IMAR RQH 1003
Motivation
Odometer
Z+F 5010
Leica TPS 1201+
XXV International Federation of Surveyors
Congress, Kuala Lumpur, Malaysia, 16 – 21
Teaching
Research
June 2014
Concept
Conclusion
Indoor setup with total station
Correlation
Velocity
1
1000
Lasertracker
Odometer
900
0.8
800
700
0.6
500
[mm/s]
Correlation
600
0.4
400
300
0.2
200
100
0
0
-0.2
-250
-200
-150
Motivation
-100
-50
0
50
time[sec]
Concept
100
150
200
250
-100
20
40
XXV International Federation of Surveyors
Congress, Kuala Lumpur, Malaysia, 16 – 21
Teaching
Research
June 2014
60
80
100
time[sec]
120
Conclusion
140
160
180
Indoor setup with total station
4000
TPS Vecocity
Odometer
corrected
3500
3000
[mm/sek]
2500
2000
1500
1000
500
0
-500
0
50
100
150
200
[sek]
Motivation
XXV International Federation of Surveyors
Congress, Kuala Lumpur, Malaysia, 16 – 21
Teaching
Research
June 2014
Concept
Conclusion
Indoor setup with total station
Differenz zwischen LT und Filterlösung mit Glättung
150
x
y
z
100
[mm]
50
0
-50
-100
-150
0
20
40
60
80
100
[sek]
120
140
160
180
200
without total station RMS 35mm
with total station RMS 14mm
Motivation
Concept
XXV International Federation of Surveyors
Congress, Kuala Lumpur, Malaysia, 16 – 21
Teaching
Research
June 2014
Conclusion
250
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
•
•
•
•
Motivation
SLAM
Calibration low-cost scanner
Uncertainty of point clouds
Low-cost IMUs
Concept
XXV International Federation of Surveyors
Congress, Kuala Lumpur, Malaysia, 16 – 21
Teaching
Research
June 2014
[email protected]
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
Conclusion

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