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Qualification de la précision de données topographiques issues d’acquisitions par méthode scanner laser dynamique ferroporté / Audrey Jacquin in XYZ, n° 146 (mars - mai 2016)
[article]
Titre : Qualification de la précision de données topographiques issues d’acquisitions par méthode scanner laser dynamique ferroporté Type de document : Article/Communication Auteurs : Audrey Jacquin, Auteur Année de publication : 2016 Article en page(s) : pp 33 - 39 Note générale : bibliographie Langues : Français (fre) Descripteur : [Vedettes matières IGN] Lasergrammétrie
[Termes IGN] données topographiques
[Termes IGN] lever mobile
[Termes IGN] point d'appui
[Termes IGN] précision centimétrique
[Termes IGN] surveillance d'ouvrage
[Termes IGN] télémètre laser terrestre
[Termes IGN] voie ferréeRésumé : (auteur) SNCF Réseau gère un réseau ferroviaire qui s'étend sur 33 000 kilomètres de lignes, représentant l'un des réseaux les plus denses d'Europe en termes de circulation. Afin d'assurer la sécurité des biens et des personnes, la surveillance de l'ensemble du Réseau Ferré National est un enjeu majeur. La cartographie mobile apparaît comme une solution évidente, offrant une productivité élevée et des conditions de travail idéales d'un point de vue de la sécurité. En effet, le milieu ferroviaire est un environnement à fortes contraintes en terme de sécurité et l'emploi d'une technologie permettant de limiter l'intervention directe du personnel sur les voies est un avantage certain. Cet article présente l'étude de précision qui a été menée sur le scanner laser dynamique acquis par SNCF Réseau à l'été 2013, dans le but de valider -ou non- son utilisation pour la surveillance du réseau à condition qu'il permette d'atteindre la classe de précision de 5 centimètres fixée par le cahier des charges. Numéro de notice : A2016-257 Affiliation des auteurs : non IGN Thématique : IMAGERIE Nature : Article DOI : sans Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=80789
in XYZ > n° 146 (mars - mai 2016) . - pp 33 - 39[article]Réservation
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Qualification de la précision - pdf éditeurAdobe Acrobat PDF The use of laser scanning as a method for measuring stairways following an accident / M. Eyre in Survey review, vol 48 n° 347 (March 2016)
[article]
Titre : The use of laser scanning as a method for measuring stairways following an accident Type de document : Article/Communication Auteurs : M. Eyre, Auteur ; P. J. Foster, Auteur ; K. Hallas, Auteur ; R. Shaw, Auteur Année de publication : 2016 Article en page(s) : pp 121 - 129 Note générale : Bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Topographie moderne
[Termes IGN] analyse spatiale
[Termes IGN] architecture
[Termes IGN] carte d'intérieur
[Termes IGN] dommage physique
[Termes IGN] inclinomètre (topographie)
[Termes IGN] lever des détails
[Termes IGN] reconstruction 3D
[Termes IGN] surveillance d'ouvrage
[Termes IGN] télémétrie laser terrestreRésumé : (auteur) Stairs present significant potential for harm to their users. A fall on stairs, particularly in descent, often leads to serious injury or even death. The authors have been involved in the investigation of many workplace stair accidents. Proper forensic investigation into the cause of a stair accident has often found the incident to be wholly or partly caused by poor stair design. In order to establish the relationship between the stair design and a given fall, an onsite survey has to be conducted, determining the rises and goings along with other key dimensions. The Health and Safety Laboratory (HSL), Buxton, UK, regularly undertake this type of survey using a digital inclinometer, a steel rule and a tape measure. Laser scanning is an emerging technique that is now accessible to the surveyor to complement or replace traditional approaches. The laser scanner and associated software produces a dense point survey in 3D, allowing dimensional analysis of the features. The authors used both traditional and laser scanning techniques to study the scenes of two fatal stair falls. The analysis presented allows the suitability of laser scanning for stair-fall investigation to be considered. Identification and classification of errors are needed in order to consider if the error is acceptable or can be mitigated. Laser scanners are impressive instruments providing data from which can be used to create a virtual 3D environment that can be used to reconstruct and explain an event and contributing factors. The use of both survey methods currently provides the investigator with complimentary data that allows accurate measurements to be presented in the context of the three-dimensional environment. Numéro de notice : A2016-048 Affiliation des auteurs : non IGN Thématique : POSITIONNEMENT Nature : Article DOI : 10.1179/1752270615Y.0000000014 En ligne : https://doi.org/10.1179/1752270615Y.0000000014 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=79642
in Survey review > vol 48 n° 347 (March 2016) . - pp 121 - 129[article]
Titre : Advanced modeling and algorithms for high-precision GNSS analysis Type de document : Thèse/HDR Auteurs : Kan Wang, Auteur Editeur : Zurich : Eidgenossische Technische Hochschule ETH - Ecole Polytechnique Fédérale de Zurich EPFZ Année de publication : 2016 Collection : Dissertationen ETH num. 23188 Note générale : bibliographie
thesis submitted to attain the degree of doctor of sciences of ETH ZurichLangues : Anglais (eng) Descripteur : [Termes IGN] ambiguïté entière
[Termes IGN] antenne GPS
[Termes IGN] centre de phase
[Termes IGN] données BeiDou
[Termes IGN] données Galileo
[Termes IGN] données GPS
[Termes IGN] double différence
[Termes IGN] erreur systématique
[Termes IGN] GPS en mode différentiel
[Termes IGN] horloge
[Termes IGN] phase GNSS
[Termes IGN] positionnement cinématique
[Termes IGN] récepteur GNSS
[Termes IGN] récepteur trifréquence
[Termes IGN] résolution d'ambiguïté
[Termes IGN] retard ionosphèrique
[Termes IGN] Suisse
[Termes IGN] trajet multiple
[Vedettes matières IGN] Traitement de données GNSSRésumé : (auteur) In the recent ten years, the Global Navigation Satellite System (GNSS) processing has experienced a fast development in many areas including the increasing number of frequencies, the higher quality of positioning instruments, e.g. the receiver clocks and the satellite clocks, and more integrated modeling and calculation strategies. This thesis includes investigations of different modeling and parameterization methods in modern GNSS positioning with the focus on three important positioning error sources: the receiver clock errors, the phase ambiguities and the ionospheric delays.
The thesis shows that making use of the high-quality receiver clocks and applying appropriate receiver clock modeling can help to improve the kinematic height estimates, which are highly correlated with the receiver clock parameters. An efficient pre-elimination and back-substitution strategy of epoch parameters with relative clock constraints between subsequent and near-subsequent epochs has been developed to enable processing of, e.g., high-rate data. A detailed analysis of the relationship between the clock quality and the improvement of kinematic heights has been performed. Studies were also conducted to decorrelate the receiver clock parameters, the kinematic heights and the troposphere parameters. Experiments with real data have shown that appropriate deterministic and stochastic clock models can also be helpful to increase the resolution of the estimated Zenith Path Delay (ZPD) parameters without obvious degradation of the stability of the kinematic heights.
The second aspect of the thesis focuses on the resolution of triple-frequency phase ambiguities with different linear combinations. A complete analytical investigation of Geometry-Free (GF) and Ionosphere-Free (IF) triple-frequency phase ambiguity resolution with minimized noise level has been performed for different frequency triplets. The analysis was done separately for the best two linear combinations and the third one. Experiments have shown that the fractional parts and the formal errors of the combined ambiguities of the best two linear combinations are relatively small for Galileo E1, E5b and E5a and GPS L1, L2 and L5 triplets, while the third linear combination remains a challenge. Further analysis with the geostationary satellites of the Beidou Navigation Satellite System (BDS) elaborated in the framework of this thesis has also confirmed that the combined ambiguities from the best two GF and IF linear combinations can be fixed by rounding, while the estimated ambiguities on L1 have relatively large deviations from the values obtained from the traditional dual-frequency double-difference ambiguity resolution. Apart from the triple-frequency ambiguity resolution on the double-difference level, the so-called track-to-track ambiguities between different tracks of the same receiver and the same satellite have also been investigated for the best two triple-frequency linear combinations using GPS L1, L2 and L5 as well as Galileo E1, E5b and E5a observations. The outcome demonstrates that elevation-dependent influences on the observations like Phase Center Variations (PCVs), Phase Center Offsets (PCOs) and multipath are important for the fixing of the track-to-track ambiguities.
The combined track-to-track ambiguities using the best two linear combinations are also effective in detecting problems in the observation data.
The third aspect of the thesis includes the investigation of the differential ionospheric delays and gradients in the region of Switzerland from 1999 to 2013. In differential Global Positioning System (GPS) positioning, the ionospheric delays for short baselines are in most cases small enough to be ignored, except under extreme conditions, e.g., during ionospheric stormy days, and for applications with high integrity requirements, e.g., during approach and landing of aircrafts. This thesis introduces an algorithm using double-difference phase measurements with resolved phase ambiguities and global ionosphere maps provided by the Center for Orbit Determination in Europe (CODE) to extract the single-difference ionospheric delays, and enabling an automatic and robust processing of the data over 15 years. The results show that the daily maximum slant ionospheric gradients calculated from the differential slant ionopheric delays and the baseline lengths from 1999 to 2013 are below the slant ionosphere gradient boundary of the Conterminous United States (CONUS) ionospheric anomaly threat model.Numéro de notice : 17250 Affiliation des auteurs : non IGN Thématique : POSITIONNEMENT Nature : Thèse étrangère Note de thèse : dissertation : sciences : ETH Zurich : 2016 En ligne : http://dx.doi.org/10.3929/ethz-a-010610972 Format de la ressource électronique : URL Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=81986 Autonomous navigation in complex nonplanar environments based on laser ranging / Philipp Andreas Krüsi (2016)
Titre : Autonomous navigation in complex nonplanar environments based on laser ranging Type de document : Thèse/HDR Auteurs : Philipp Andreas Krüsi, Auteur Editeur : Zurich : Eidgenossische Technische Hochschule ETH - Ecole Polytechnique Fédérale de Zurich EPFZ Année de publication : 2016 Note générale : bibliographie
A thesis submitted to attain the degree of doctor of sciences of ETH ZurichLangues : Anglais (eng) Descripteur : [Vedettes matières IGN] Lasergrammétrie
[Termes IGN] algorithme ICP
[Termes IGN] données lidar
[Termes IGN] données localisées 3D
[Termes IGN] navigation autonome
[Termes IGN] robot mobile
[Termes IGN] semis de points
[Termes IGN] télémètre laser
[Termes IGN] télémétrie laser aéroporté
[Termes IGN] télémétrie laser terrestre
[Termes IGN] temps réel
[Termes IGN] vision par ordinateurRésumé : (auteur) This thesis addresses the problem of autonomous navigation with ground robots in complex environments, which may be characterized as nonplanar and nonstatic. The goal of the presented research is to enable reliable navigation over large distances in generic indoor and outdoor environments, independent of external localization sources such as a global positioning system (GPS). Focusing on these challenges, algorithms for all building blocks of autonomous navigation—localization, mapping, terrain assessment, motion planning, and motion control—are developed, implemented, integrated, and finally evaluated in extensive field experiments. Sensor-based perception of the environment is a basic requirement for localization and mapping. We propose to use a high-frequency three-dimensional (3D) laser scanner as the main exteroceptive sensor. The advantages of this technology lie in the high density and accuracy of the provided measurements, and their independence of lighting and weather conditions. We develop a highly scalable system for six-dimensional (6D) localization and 3D mapping based on iterative closest point (ICP) matching. A topological/metric map representation, where metric information is kept in spatially constrained local submaps representing vertices in a graph, allows to build consistent large-scale maps without requiring global optimization. Long-term application in dynamic and changing environments is enabled by integrating methods for identifying dynamic objects in the scene and for continuously updating existing submaps. Planning feasible and safe motions for a robotic vehicle requires distinguishing obstacles from traversable terrain. We develop two different algorithms for terrain assessment. The first method is targeted at real-time obstacle detection in the vicinity of the robot. Assuming locally planar terrain, a grid-based obstacle map is built by analyzing the raw laser scans. The second approach is based on dense point cloud maps (which can be obtained from the ICP mapping system) and suitable for planar and nonplanar environments. The algorithm computes the geometry and the traversability of the terrain “on demand” at specific query locations, avoiding any artificial discretization or explicit surface reconstruction. The desired terrain characteristics are estimated based on statistics on the local distribution of map points. Given a specific navigation task, motion planning can be defined as the problem of reasoning about how to act based on the knowledge about the environment. This thesis addresses both local obstacle avoidance and global planning over large distances. Our approach to local planning consists of computing a set of candidate trajectories, which are shaped around nearby obstacles or along a given reference path, and enforced to satisfy the robot’s kinematic constraints. The optimal local trajectory is chosen by evaluating the motion alternatives in terms of guidance towards the goal and traversability of the underlying terrain. For global motion planning, we develop an algorithm embedding the proposed point-cloud-based terrain assessment method, which allows trajectories to be directly planned on 3D point cloud maps. The approach is designed to be suitable for generic nonplanar environments, including rough outdoor terrain, multi-level facilities, and more complex geometries. Piecewise continuous trajectories are computed in the full 6D space of robot poses, while strictly considering the vehicle’s kinematic and dynamic constraints. We apply sampling-based planning algorithms to generate an initial trajectory connecting the desired start and goal poses. Subsequently, the trajectory is locally optimized according to a generic cost function, which may include path length, path curvature, and roughness of the traversed terrain. While enforcing the hard constraints to remain satisfied (terrain contact, traversability, kinodynamic feasibility), the trajectory is iteratively deformed until a local minimum of the cost function is reached. We develop two complete systems for autonomous navigation, integrating these approaches. Combining the ICP-based localization and mapping framework with local obstacle detection and local motion planning, we implement a framework for autonomous route following, commonly referred to as teach and repeat (T&R). After a manually controlled teach run, where a graph of local submaps is built, the robot is able to automatically repeat the learned route, using the recorded maps for localization. Unlike classical T&R systems, our framework is suitable for application in dynamic environments, where the integrated obstacle avoidance scheme allows to detect and circumnavigate obstacles appearing on the reference path. In addition to the T&R approach, we present a second navigation system, integrating the point-cloud-based terrain assessment and global planning algorithms with ICP-based localization and mapping. Given a graph of point cloud maps—typically recorded in a manually controlled survey run—the framework enables navigation within the mapped area without being restricted to known routes. Motion control is implemented by a trajectory tracking controller with integrated real-time collision checking. Together with continuous map updates and frequent replanning of the global trajectory, these techniques enable autonomous navigation in nonplanar, nonstatic environments. Finally, we describe the characteristics of the mobile robot ARTOR, which was set up for the purpose of testing and evaluating the developed algorithms under realistic conditions. ARTOR consists of a six-wheeled, electrically powered base vehicle equipped with sensors, computers, and communication gear. The proposed autonomous navigation algorithms were integrated on the robot and tested in extensive field experiments, demonstrating reliable, GPS-independent navigation over large distances and under greatly varying environmental conditions, in unstructured off-road terrain, multi-level environments, and dynamic urban areas. Numéro de notice : 17367 Affiliation des auteurs : non IGN Thématique : IMAGERIE/INFORMATIQUE Nature : Thèse étrangère Note de thèse : PhD thesis : Sciences : ETH Zurich : 2016 En ligne : http://dx.doi.org/10.3929/ethz-a-010656081 Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=84243 Correction de nuages de points lidar embarqué sur véhicule pour la reconstruction d’environnement 3D vaste / Pierre Merriaux (2016)
Titre : Correction de nuages de points lidar embarqué sur véhicule pour la reconstruction d’environnement 3D vaste Type de document : Article/Communication Auteurs : Pierre Merriaux, Auteur ; Y. Dupuis, Auteur ; R. Boutteau, Auteur ; Pascal Vasseur, Auteur ; X. Savatier, Auteur Editeur : Association française pour la reconnaissance et l'interprétation des formes AFRIF Année de publication : 2016 Conférence : RFIA 2016, 20e conférence Reconnaissance des Formes et Intelligence Artificielle 27/06/2016 01/07/2016 Clermond-Ferrand France OA Proceedings Importance : 6 p. Note générale : bibliographie Langues : Français (fre) Descripteur : [Vedettes matières IGN] Lasergrammétrie
[Termes IGN] balayage laser
[Termes IGN] déformation géométrique
[Termes IGN] données lidar
[Termes IGN] données localisées 3D
[Termes IGN] instrument embarqué
[Termes IGN] lidar topographique
[Termes IGN] navigation autonome
[Termes IGN] vitesseRésumé : (auteur) Dans ces travaux, nous évaluons l’impact de différentes trajectoires de véhicule routier sur les nuages de points lidar embarqué. Effectivement, les fréquences de balayage des lidars sont faibles au regard des vitesses véhicule. Nous proposons une méthode pour palier ce problème et des métriques de comparaison. Nos résultats montrent qu’il est nécessaire de redresser les mesures de lidar embarqué avant de reconstruire en 3D des environnements vastes. Numéro de notice : C2016-018 Affiliation des auteurs : non IGN Thématique : IMAGERIE Nature : Communication DOI : sans En ligne : http://rfia2016.iut-auvergne.com/media/articles/JVI04.pdf Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=84609 Documents numériques
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Correction de nuages de points lidar embarquéAdobe Acrobat PDF PermalinkGNSS Satellite-Based Augmentation Systems : A potential new time keeping system for future generations / Carlo Cornacchini in Inside GNSS, vol 11 n° 1 (January - February 2016)PermalinkLaser scanner in a backpack / Antero Kukko in GIM international [en ligne], vol 30 n° 1 (January 2016)PermalinkMarégraphe de Marseille : Contrôle des appareils effectué en mars 2016, version 1 / Alain Coulomb (2016)PermalinkOptimized strategy for the calibration of superconducting gravimeters at the one per mille level / Michel Van Camp in Journal of geodesy, vol 90 n° 1 (January 2016)PermalinkRéalisation d'études et travaux topographiques sur des biens fonciers et immobiliers parisiens / Robin Bordereau (2016)PermalinkStudy and development of a laser based alignment system for the compact linear collider / Guillaume Stern (2016)PermalinkWater vapor measurements by mobile Raman lidar over the Mediterranean Sea in the framework of HyMeX: application to multi-platform validation of moisture profiles / Julien Totems in EPJ Web of Conferences, vol 119 (2016)PermalinkDevelopment and operational analysis of an all-fiber coherent doppler Lidar system for wind sensing and aerosol profiling / Sameh Abdelazim in IEEE Transactions on geoscience and remote sensing, vol 53 n° 12 (December 2015)PermalinkDevelopment, calibration and evaluation of a portable and direct georeferenced laser scanning system for kinematic 3D mapping / Erik Heinz in Journal of applied geodesy, vol 9 n° 4 (December 2015)Permalink