NDLI: Improved Uav-borne 3 D Mapping by Fusing Optical and Laserscanner Data

Please wait, while we are loading the content...

Improved Uav-borne 3 D Mapping by Fusing Optical and Laserscanner Data

Content Provider	Semantic Scholar
Author	Jutzi, Boris Weinmann, Martin Meidow, Jochen
Copyright Year	2013
Abstract	In this paper, a new method for fusing optical and laserscanner data is presented for improved UAV-bor ne 3D mapping. We propose to equip an unmanned aerial vehicle (UAV) with a sm all platform which includes two sensors: a standard low-cost digital camera and a lightweight Hokuyo UTM-30LX-EW laserscanning device (210 g without cable). Initially, a calibrat ion is carried out for the utilized devices. This involves a geometric camera calibration and the estimation of the position and orientation offset between the two sensors by lever-arm and bore-sight calibration . Subsequently, a feature tracking is performed thr ough the image sequence by considering extracted interest points as well as th e projected 3D laser points. These 2D results are f us d with the measured laser distances and fed into a bundle adjustment in order to obtain a Simultaneous Localization and Mapping (SLAM). It is demonstrated that an improvement in terms of precision for the p ose estimation is derived by fusing optical and las erscanner data.
File Format	PDF HTM / HTML
Alternate Webpage(s)	http://akme-a2.iosb.fraunhofer.de/EatThisGoogleScholar/d/2013_Improved%20UAV-borne%203D%20mapping%20by%20fusing%20optical%20and%20laserscanner%20data.pdf
Alternate Webpage(s)	https://www.int-arch-photogramm-remote-sens-spatial-inf-sci.net/XL-1-W2/223/2013/isprsarchives-XL-1-W2-223-2013.pdf
Language	English
Access Restriction	Open
Subject Keyword	Aerial photography Bundle adjustment Calibration Camera resectioning Digital camera Distance Enea OSE Extraction Iontophoresis Motion estimation Projections and Predictions Reflow soldering Simultaneous localization and mapping Threonine Unmanned aerial vehicle sensor (device)
Content Type	Text
Resource Type	Article

Central Library (ISO-9001:2015 Certified)
Indian Institute of Technology Kharagpur
Kharagpur, West Bengal, India | PIN - 721302

See location in the Map
03222 282435
Mail: support@ndl.gov.in

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in