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Improved UAV-borne 3D mapping by fusing optical and laserscanner data

: Jutzi, Boris

Postprint urn:nbn:de:0011-n-2596967 (1.2 MByte PDF)
MD5 Fingerprint: a7de42d3cd907f111235405f4408bba7
Erstellt am: 3.10.2013

Grenzdörffer, G.; Bill, R. ; International Society for Photogrammetry and Remote Sensing -ISPRS-:
UAV-g 2013. Proceedings : 4 - 6 September 2013, Rostock, Germany
2013 (International archives of photogrammetry and remote sensing XL-1/W2)
Conference "Unmanned Aerial Vehicles in Geomatics" (UAV-g) <2013, Rostock>
Konferenzbeitrag, Elektronische Publikation
Fraunhofer IOSB ()
UAV; multi-pulse laserscanning; sensor calibration; self-localization; data fusion

In this paper, a new method for fusing optical and laserscanner data is presented for improved UAV-borne 3D mapping. We propose
to equip an unmanned aerial vehicle (UAV) with a small 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 calibration 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 through the image sequence by
considering extracted interest points as well as the projected 3D laser points. These 2D results are fused 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 pose estimation is derived by fusing optical and laserscanner data.