Positions- und Orientierungsschätzung von LIDAR-Sensoren auf Multisensorplattformen
- verfasst von
- Thorsten Strübing, Ingo Neumann
- Abstract
The use of multi-sensor platforms plays a key role in Geodesy, especially in Engineering Geodesy. These multi-sensor platforms are mainly used for the mapping and monitoring of the environment. Examples are mobile mapping systems with applications in building, street and track surveying. Due to the complexity of these tasks, usually (kinematic) multi-sensor systems are used. The multi-sensor system usually consists of two sensor types, one responsible for the navigation solution, the other one for the optical 3D mapping of the environment. In order to combine the navigation solution with the mapping component, the relative position and orientation of each sensor in the coordinate system of the multi-sensor platform has to be exactly known. Within this contribution, a new possibility for the determination of the 6D0F(3 translations and 3 rotations) of the optical sensors which are responsible for the mapping of the environment is introduced. The presented approach is generally applicable and allows the 6 DOF determination of profile laserscanners. The 6 DOF are estimated within an adjustment model by utilizing known reference geometries. This also allows to determine accuracy information for the estimated 6 DOF. The new approach is especially of interest in case of not physically available and measurable origin points of the sensors and in the case of profile laserscanners.
- Organisationseinheit(en)
-
Geodätisches Institut
- Externe Organisation(en)
-
Universität der Bundeswehr München
- Typ
- Artikel
- Journal
- ZFV - Zeitschrift fur Geodasie, Geoinformation und Landmanagement
- Band
- 138
- Seiten
- 210-221
- Anzahl der Seiten
- 12
- ISSN
- 1618-8950
- Publikationsdatum
- 2013
- Publikationsstatus
- Veröffentlicht
- Peer-reviewed
- Ja
- ASJC Scopus Sachgebiete
- Erdkunde und Planetologie (insg.)
- Elektronische Version(en)
-
https://geodaesie.info/zfv/heftbeitrag/1569 (Zugang:
Offen)
