Projekte

HFT auf Facebook      HFT auf Twitter   HFT auf Youtube   HFT und Snapchat

Multi-sensor, self-referencing 3D mapping system, visual odometry <<

Akronym MSM
Funding Ministerium für Wissenschaft, Forschung und Kunst Baden-Württemberg
Request for Proposal Ministerium für Wissenschaft, Forschung und Kunst Baden-Württemberg
Supporting Organisation Ministerium für Wissenschaft, Forschung und Kunst Baden-Württemberg
HFT project director Prof. Dr.-Ing.  Michael Hahn
Project Staff M.Eng. Marius Ziegler
Project partners Hochschule Karlsruhe - Technik und Wirtschaft
Duration 01.09.2015 - 31.08.2017
Project description The aim of this project is to develop a 3D mapping system which is self-referencing in an unknown environment and allows highly efficient registering of the interiors of buildings. The multi-sensor mapping system consists of rotating laser scanners (laser SLAM components), MEMS-IMUs, stereo cameras (visual odometry), MOEMS sensors (plenoptic cameras) and - in the case of outdoor applications - GNSS receivers which are integrated in time synchronization on one or more platforms. The mapping system's environment is scanned by laser scanners and cameras during movement. A merger of all measured sensor-specific variables takes place in deep coupling for determining a largely drift-free 15-parameter navigation state vector which geo-references the laser point cloud in real time. In a sub-project of HFT, a sensor platform is equipped with multiple cameras, two laser scanners, a GNSS-IMU and – in the case of outdoor applications – an odometer Algorithmic solutions for calibration and boresight alignment of all involved sensors are worked out and experimentally tested for this sensor system. Methods for integrating laser-SLAM and visual odometry (mono and stereo) are developed to provide appropriate measurement variables for the navigation solution. The effectiveness of the approach for self-referencing 3D mapping with geo-referenced point clouds is evaluated in a practical test.
Keywords Self-referencing 3D mapping system, laser SLAM components, mono- and stereo cameras, platform solution, calibration