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Positions- und Orientierungsschätzung von LIDAR-Sensoren auf Multisensorplattformen

authored by
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.

Organisation(s)
Geodetic Institute
External Organisation(s)
Universität der Bundeswehr München
Type
Article
Journal
ZFV - Zeitschrift fur Geodasie, Geoinformation und Landmanagement
Volume
138
Pages
210-221
No. of pages
12
ISSN
1618-8950
Publication date
2013
Publication status
Published
Peer reviewed
Yes
ASJC Scopus subject areas
Earth and Planetary Sciences(all)
Electronic version(s)
https://geodaesie.info/zfv/heftbeitrag/1569 (Access: Open)
 

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