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  4. LiDAR-Based Registration Against Georeferenced Models for Globally Consistent Allocentric Maps
 
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2024
Conference Paper
Title

LiDAR-Based Registration Against Georeferenced Models for Globally Consistent Allocentric Maps

Abstract
Modern unmanned aerial vehicles (UAVs) are irreplaceable in search and rescue (SAR) missions to obtain a situational overview or provide closeups without endangering personnel. However, UAVs heavily rely on global navigation satellite system (GNSS) for localization which works well in open spaces, but the precision drastically degrades in the vicinity of buildings. These inaccuracies hinder aggregation of diverse data from multiple sources in a unified georeferenced frame for SAR operators. In contrast, CityGML models provide approximate building shapes with accurate georeferenced poses. Besides, LiDAR works best in the vicinity of 3D structures. Hence, we refine coarse GNSS measurements by registering LiDAR maps against CityGML and digital elevation map (DEM) models as a prior for allocentric mapping. An intuitive plausibility score selects the best hypothesis based on occupancy using a 2D height map. Afterwards, we integrate the registration results in a continuous-time spline-based pose graph optimizer with LiDAR odometry and further sensing modalities to obtain globally consistent, georeferenced trajectories and maps. We evaluate the viability of our approach on multiple flights captured at two distinct testing sites. Our method successfully reduced GNSS offset errors from up-to 16 m to below 0.5 m on multiple flights. Furthermore, we obtain globally consistent maps w.r.t. prior 3D geospatial models.
Author(s)
Quenzel, Jan  
Computer Science Institute VI - Intelligent Systems and Robotics
Mallwitz, Linus T.
Computer Science Institute VI - Intelligent Systems and Robotics
Arnold, Benedikt Tobias  
Fraunhofer-Institut für Angewandte Informationstechnik FIT  
Behnke, Sven  
Fraunhofer-Institut für Intelligente Analyse- und Informationssysteme IAIS  
Mainwork
IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2024  
Conference
International Symposium on Safety Security Rescue Robotics 2024  
DOI
10.1109/SSRR62954.2024.10770000
Language
English
Fraunhofer-Institut für Intelligente Analyse- und Informationssysteme IAIS  
Fraunhofer-Institut für Angewandte Informationstechnik FIT  
Keyword(s)
  • Global navigation satellite system

  • Solid modeling

  • Laser radar

  • Three-dimensional displays

  • Buildings

  • Data models

  • Trajectory

  • Geospatial analysis

  • Splines (mathematics)

  • Testing

  • Global positioning system

  • Unmanned aerial vehicles

  • Helicopter rescue services

  • Allocentric maps

  • Search and rescue

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