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Humaine : a ubiquitous smartphone-based user heading estimation for mobile computing systems / Nesma Mohssen in Geoinformatica, vol 21 n° 3 (July - September 2017)  

Public [article]  inGeoinformatica > vol 21 n° 3 (July - September 2017) . - pp 519 - 548 Titre : Humaine : a ubiquitous smartphone-based user heading estimation for mobile computing systems Type de document : Article/Communication Auteurs : Nesma Mohssen, Auteur ; Rana Momtaz, Auteur ; Heba Aly, Auteur ; Moustafa Youssef, Auteur Année de publication : 2017 Article en page(s) : pp 519 - 548 Note générale : Bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Géomatique web [Termes IGN] acquisition simultanée [Termes IGN] analyse de données [Termes IGN] Androïd [Termes IGN] données localisées des bénévoles [Termes IGN] lever mobile [Termes IGN] orientation automatique [Termes IGN] système de coordonnées [Termes IGN] téléphonie mobile Résumé : (Auteur) Recently, there have been a wide range of mobile computing and crowd-sourcing applications that leverage the proliferating sensing capabilities of smartphones. Many of these place a paramount importance on accurate user heading estimation. Such applications include dead-reckoning-based localization and many crowd-sensing applications where the user typically carry her phone in arbitrary positions and orientations relative to her body and her transportation mode. However, there is no general solution available to estimate the user’s heading as current state-of-the-art focus on improving the phone orientation estimation, require the phone to be placed in a particular position, require a fixed transportation mode, require user intervention, and/or do not work accurately indoors. In this paper we present Humaine, a novel ubiquitous system that reliably and accurately estimates the user orientation relative to the Earth coordinate system. Humaine works accurately whether the user is riding a vehicle or walking indoors/outdoors for arbitrary cell phone positions and orientations relative to the user body. Moreover, it requires no prior-configuration nor user intervention. The system intelligently fuses the different inertial sensors widely available in off-the-shelf smartphones and employs statistical analysis techniques to their measurements to estimate the user orientation. Implementation of the system on different Android devices with 300 experiments performed at different indoor and outdoor testbeds shows that Humaine significantly outperforms the state-of-the-art in diverse scenarios, achieving a median accuracy of 14∘ and 16∘ for indoor and outdoor pedestrian users and 20∘ for in-vehicle users over a wide variety of phone positions. This is better than the-state-of-the-art by 523% and 594% for indoor and outdoor pedestrian users and 750% for in-vehicle users. This accuracy highlights the ubiquity of Humaine and its robustness against the various noise sources. Numéro de notice : A2017-380 Affiliation des auteurs : non IGN Thématique : GEOMATIQUE Nature : Article DOI : 10.1007/s10707-017-0300-7 En ligne : https://doi.org/10.1007/s10707-017-0300-7 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=85811 [article]

Localization of a mobile laser scanner via dimensional reduction / Ville V. Lehtola, in ISPRS Journal of photogrammetry and remote sensing, vol 121 (November 2016)  

Public [article]  inISPRS Journal of photogrammetry and remote sensing > vol 121 (November 2016) . - pp 48 – 59 Titre : Localization of a mobile laser scanner via dimensional reduction Type de document : Article/Communication Auteurs : Ville V. Lehtola,, Auteur ; Juho-Pekka Virtanen, Auteur ; Matti Vaaja, Auteur ; et al., Auteur Année de publication : 2016 Article en page(s) : pp 48 – 59 Note générale : Bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Lasergrammétrie [Termes IGN] acquisition simultanée [Termes IGN] positionnement inertiel [Termes IGN] service fondé sur la position [Termes IGN] télémétrie laser mobile [Termes IGN] télémétrie laser terrestre Résumé : (Auteur) We extend the concept of intrinsic localization from a theoretical one-dimensional (1D) solution onto a 2D manifold that is embedded in a 3D space, and then recover the full six degrees of freedom for a mobile laser scanner with a simultaneous localization and mapping algorithm (SLAM). By intrinsic localization, we mean that no reference coordinate system, such as global navigation satellite system (GNSS), nor inertial measurement unit (IMU) are used. Experiments are conducted with a 2D laser scanner mounted on a rolling prototype platform, VILMA. The concept offers potential in being extendable to other wheeled platforms. Numéro de notice : A2016--014 Affiliation des auteurs : non IGN Thématique : IMAGERIE Nature : Article nature-HAL : ArtAvecCL-RevueIntern DOI : 10.1016/j.isprsjprs.2016.09.004 En ligne : https://doi.org/10.1016/j.isprsjprs.2016.09.004 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=83875 [article]

Boresight and lever arm calibration of a mobile terrestrial Lidar system / M. Leslar in Geomatica, vol 70 n° 2 (June 2016)  

Public [article]  inGeomatica > vol 70 n° 2 (June 2016) . - pp 97 - 112 Titre : Boresight and lever arm calibration of a mobile terrestrial Lidar system Type de document : Article/Communication Auteurs : M. Leslar, Auteur ; J.G. Wang, Auteur ; B. Hu, Auteur Année de publication : 2016 Article en page(s) : pp 97 - 112 Note générale : bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Lasergrammétrie [Termes IGN] acquisition de données [Termes IGN] acquisition simultanée [Termes IGN] angle de visée [Termes IGN] données lidar [Termes IGN] étalonnage de capteur (imagerie) [Termes IGN] point d'appui [Termes IGN] surface plane [Termes IGN] télémétrie laser terrestre Résumé : (auteur) Unlike Mobile Airborne LiDAR (MAL), it has become common for Mobile Terrestrial LiDAR (MTL) systems to consist of two or more LiDAR sensors. It is a challenging task for a user to simultaneously verify and calibrate their lever arms and boresight angles with respect to the IMU using the kinematic data. This paper presents a novel method for determination of MTL calibration parameters using the vector geometry created by a stereo pair of MTL sensors. Through the use of the stereo information provided by a pair of MTL sensors working in tandem, system parameters such as lever arm and boresight angles can be determined for both sensors based on a single pass of a calibration object or scene. In this way, any data collected by a multi-sensor MTL can potentially be used to calibrate the system. Unlike many other calibration methods for calibrating MTL and MAL systems, the proposed method enables the simultaneous calibration of all lever arm and bore sight parameters for all of the LiDAR sensors integrated into the MTL system. Many MTL systems do not make it easy for end users to measure the lever arms, usually forcing users to fall back on mechanical drawings to determine the lever arms. The calibration method has been realized using test data acquired by two independent Lynx Mobile Mapper systems on 1) a single pass of a typical 400-m-long urban street scene and 2) a single pass around a calibration building. Each experiment succeeded at producing arc - second accurate boresight and sub-centimetre accurate lever arm parameters. Several scenarios were run. It was found that this accuracy level could be practically maintained with a control field consisting of five to seven control points distributed on horizontal and vertical surfaces. Numéro de notice : A2016-678 Affiliation des auteurs : non IGN Thématique : IMAGERIE Nature : Article DOI : 10.5623/cig2016-202 En ligne : http://dx.doi.org/10.5623/cig2016-202 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=81932 [article]

Simultaneous data capture / H. Grierson in Geoinformatics, vol 14 n° 7 (01/10/2011)

Public [article]  inGeoinformatics > vol 14 n° 7 (01/10/2011) . - pp 6 - 8 Titre : Simultaneous data capture Type de document : Article/Communication Auteurs : H. Grierson, Auteur Année de publication : 2011 Article en page(s) : pp 6 - 8 Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Acquisition d'image(s) et de donnée(s) [Termes IGN] acquisition simultanée [Termes IGN] caméra numérique [Termes IGN] chambre à grand format [Termes IGN] Lidar [Termes IGN] télémétrie laser aéroporté Résumé : (Auteur) Blom society has a long history and operating a range of digital cameras and sensors across Europe. Traditionally, these instruments would be used independently, even if multiple data formats were required. However, the demand for higher quality resources, and the need for improved capture efficiency, has seen the long established techniques of aerial surveying put under the microscope. One method to emerge is to use aircraft with dual sensor capabilities. In early, 2011 Blom UK adapted one of their aeroplanes to enable simultaneous data capture with their Vexcel large format digital camera and Optech ALTM LiDAR system. Numéro de notice : A2011-421 Affiliation des auteurs : non IGN Thématique : IMAGERIE Nature : Article DOI : sans Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=31200 [article]

Exemplaires(1)

Code-barres	Cote	Support	Localisation	Section	Disponibilité
262-2011071	SL	Revue	Centre de documentation	Revues en salle	Disponible

Viewing planning for range acquisition in indoor environments / Kok-Lim Low (2006) 

Public Titre : Viewing planning for range acquisition in indoor environments Type de document : Thèse/HDR Auteurs : Kok-Lim Low, Auteur Editeur : Chapel Hill [USA] : University of North Carolina Année de publication : 2006 Importance : 199 p. Format : 21 x 30 cm Note générale : bibliographie A dissertation submitted to the faculty of the University of North Carolina at Chapel Hill in partial fulfillment of the requirements for the degree of Doctor of Philosophy in the Department of Computer Science. Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Lasergrammétrie [Termes IGN] acquisition simultanée [Termes IGN] algorithme de fusion [Termes IGN] algorithme ICP [Termes IGN] approche hiérarchique [Termes IGN] données lidar [Termes IGN] données localisées 3D [Termes IGN] positionnement en intérieur [Termes IGN] programmation par contraintes [Termes IGN] reconstruction 3D [Termes IGN] reconstruction d'objet [Termes IGN] scène intérieure Résumé : (auteur) This dissertation presents a new and efficient next-best-view algorithm for 3D reconstruction of indoor environments using active range sensing. A major challenge in range acquisition for 3D reconstruction is an efficient automated view planning algorithm to determine a sequence of scanning locations or views such that a set of acquisition constraints and requirements is satisfied and the object or environment of interest can be satisfactorily reconstructed. Due to the intractability of the view planning problem and the lack of global geometric information, a greedy approach is adopted to approximate the solution. A practical view metric is formulated to include many real-world acquisition constraints and reconstruction quality requirements. This view metric is flexible to allow trade-offs between different requirements of the reconstruction quality. A major contribution of this work is the application of a hierarchical approach to greatly accelerate the evaluation of the view metric for a large set of views. This is achieved by exploiting the various spatial coherences in the acquisition constraints and reconstruction quality requirements when evaluating the view metric. The hierarchical view evaluation algorithm is implemented in a view planning system targeted for the acquisition of indoor environments using a monostatic range scanner with 3D pose. The results show great speedups over the straightforward method used in many previous algorithms. The view planning system has also been shown to be robust for realworld application. The dissertation also describes how the view metric can be generalized to incorporate general acquisition constraints and requirements, and how the hierarchical view evaluation algorithm can be generalized to scanners with general pose, and to scanners with bistatic sensors. A simple extension is also proposed to enable the hierarchical view evaluation algorithm to take into account each view’s sensitivity to the potential pose errors in the physical positioning of the scanner. A computed new view must produce a range image that can be accurately registered to the previous scans. In this work, a metric is developed to estimate the registration accuracy of the views. This metric considers the amount of overlap, the range measurement errors, and the shape complexity of the surfaces. Note de contenu : 1- Introduction 2- Background 3- A Next-Best-View Solution 4- View evaluation 5- Surface Registration 6- Results 7- Conclusion Numéro de notice : 24637 Affiliation des auteurs : non IGN Thématique : IMAGERIE Nature : Thèse étrangère Note de thèse : PhD Thesis : Computer Science : Chapel Hill - North Carolina : 2006 Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=92241

Exemplaires(1)

Code-barres	Cote	Support	Localisation	Section	Disponibilité
24637-01	THESE	Livre	LASTIG	Dépôt en unité	Exclu du prêt

Documents numériques

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