An Automatic Procedure For Mobile Laser Scanning Platform 6DOF Trajectory Adjustment

In this paper, a method is presented to improve the MLS platform’s trajectory for GNSS denied areas. The method comprises two major steps. The first step is based on a 2D image registration technique described in our previous publication. Internally, this registration technique first performs aerial...

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Tác giả chính:	Hussnain, S. Z.
Đồng tác giả:	Oude Elberink, S. J.
Định dạng:	BB
Ngôn ngữ:	English
Thông tin xuất bản:	2020
Chủ đề:	6DOF trajectory adjustment B-spline Mobile laser scanning point cloud 3D tie points Aerial imagery
Truy cập trực tuyến:	http://tailieuso.tlu.edu.vn/handle/DHTL/8873
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spelling	oai:localhost:DHTL-88732020-05-29T03:35:51Z An Automatic Procedure For Mobile Laser Scanning Platform 6DOF Trajectory Adjustment Hussnain, S. Z. Oude Elberink, S. J. Vosselman, G. 6DOF trajectory adjustment B-spline Mobile laser scanning point cloud 3D tie points Aerial imagery In this paper, a method is presented to improve the MLS platform’s trajectory for GNSS denied areas. The method comprises two major steps. The first step is based on a 2D image registration technique described in our previous publication. Internally, this registration technique first performs aerial to aerial image matching, this issues correspondences which enable to compute the 3D tie points by multiview triangulation. Similarly, it registers the rasterized Mobile Laser Scanning Point Cloud (MLSPC) patches with the multiple related aerial image patches. The later registration provides the correspondence between the aerial to aerial tie points and the MLSPC’s 3D points. In the second step, which is described in this paper, a procedure utilizes three kinds of observations to improve the MLS platform’s trajectory. The first type of observation is the set of 3D tie points computed automatically in the previous step (and are already available), the second type of observation is based on IMU readings and the third type of observation is soft-constraint over related pose parameters. In this situation, the 3D tie points are considered accurate and precise observations, since they provide both locally and globally strict constraints, whereas the IMU observations and soft-constraints only provide locally precise constraints. For 6DOF trajectory representation, first, the pose [R, t] parameters are converted to 6 B-spline functions over time. Then for the trajectory adjustment, the coefficients of Bsplines are updated from the established observations. We tested our method on an MLS data set acquired at a test area in Rotterdam, and verified the trajectory improvement by evaluation with independently and manually measured GCPs. After the adjustment, the trajectory has achieved the accuracy of RMSE X=9 cm, Y=14 cm and Z=14 cm. Analysing the error in the updated trajectory suggests that our procedure is effective at adjusting the 6DOF trajectory and to regenerate a reliable MLSPC product. https://www.int-arch-photogramm-remote-sens-spatial-inf-sci.net/XLII-1/203/2018/isprs-archives-XLII-1-203-2018.pdf 2020-05-29T03:35:51Z 2020-05-29T03:35:51Z 2018 BB http://tailieuso.tlu.edu.vn/handle/DHTL/8873 en ISPRS TC I Mid-term Symposium “Innovative Sensing – From Sensors to Methods and Applications”, 10–12 October 2018, Karlsruhe, Germany (Vol. XLII-1, pp. 203-209).
institution	Trường Đại học Thủy Lợi
collection	DSpace
language	English
topic	6DOF trajectory adjustment B-spline Mobile laser scanning point cloud 3D tie points Aerial imagery
spellingShingle	6DOF trajectory adjustment B-spline Mobile laser scanning point cloud 3D tie points Aerial imagery Hussnain, S. Z. An Automatic Procedure For Mobile Laser Scanning Platform 6DOF Trajectory Adjustment
description	In this paper, a method is presented to improve the MLS platform’s trajectory for GNSS denied areas. The method comprises two major steps. The first step is based on a 2D image registration technique described in our previous publication. Internally, this registration technique first performs aerial to aerial image matching, this issues correspondences which enable to compute the 3D tie points by multiview triangulation. Similarly, it registers the rasterized Mobile Laser Scanning Point Cloud (MLSPC) patches with the multiple related aerial image patches. The later registration provides the correspondence between the aerial to aerial tie points and the MLSPC’s 3D points. In the second step, which is described in this paper, a procedure utilizes three kinds of observations to improve the MLS platform’s trajectory. The first type of observation is the set of 3D tie points computed automatically in the previous step (and are already available), the second type of observation is based on IMU readings and the third type of observation is soft-constraint over related pose parameters. In this situation, the 3D tie points are considered accurate and precise observations, since they provide both locally and globally strict constraints, whereas the IMU observations and soft-constraints only provide locally precise constraints. For 6DOF trajectory representation, first, the pose [R, t] parameters are converted to 6 B-spline functions over time. Then for the trajectory adjustment, the coefficients of Bsplines are updated from the established observations. We tested our method on an MLS data set acquired at a test area in Rotterdam, and verified the trajectory improvement by evaluation with independently and manually measured GCPs. After the adjustment, the trajectory has achieved the accuracy of RMSE X=9 cm, Y=14 cm and Z=14 cm. Analysing the error in the updated trajectory suggests that our procedure is effective at adjusting the 6DOF trajectory and to regenerate a reliable MLSPC product.
author2	Oude Elberink, S. J.
author_facet	Oude Elberink, S. J. Hussnain, S. Z.
format	BB
author	Hussnain, S. Z.
author_sort	Hussnain, S. Z.
title	An Automatic Procedure For Mobile Laser Scanning Platform 6DOF Trajectory Adjustment
title_short	An Automatic Procedure For Mobile Laser Scanning Platform 6DOF Trajectory Adjustment
title_full	An Automatic Procedure For Mobile Laser Scanning Platform 6DOF Trajectory Adjustment
title_fullStr	An Automatic Procedure For Mobile Laser Scanning Platform 6DOF Trajectory Adjustment
title_full_unstemmed	An Automatic Procedure For Mobile Laser Scanning Platform 6DOF Trajectory Adjustment
title_sort	automatic procedure for mobile laser scanning platform 6dof trajectory adjustment
publishDate	2020
url	http://tailieuso.tlu.edu.vn/handle/DHTL/8873
work_keys_str_mv	AT hussnainsz anautomaticprocedureformobilelaserscanningplatform6doftrajectoryadjustment AT hussnainsz automaticprocedureformobilelaserscanningplatform6doftrajectoryadjustment
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An Automatic Procedure For Mobile Laser Scanning Platform 6DOF Trajectory Adjustment

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