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Lidar point-to-point correspondences for rigorous registration of kinematic scanning in dynamic networks / Aurélien Brun in ISPRS Journal of photogrammetry and remote sensing, vol 189 (July 2022)  

Public [article]  inISPRS Journal of photogrammetry and remote sensing > vol 189 (July 2022) . - pp 185 - 200 Titre : Lidar point-to-point correspondences for rigorous registration of kinematic scanning in dynamic networks Type de document : Article/Communication Auteurs : Aurélien Brun, Auteur ; Davide Antonio Cucci, Auteur ; Jan Skaloud, Auteur Année de publication : 2022 Article en page(s) : pp 185 - 200 Note générale : bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Lasergrammétrie [Termes IGN] appariement de points [Termes IGN] centrale inertielle [Termes IGN] données lidar [Termes IGN] filtre de Kalman [Termes IGN] géoréférencement [Termes IGN] précision du positionnement [Termes IGN] Ransac (algorithme) [Termes IGN] semis de points [Termes IGN] signal GNSS [Termes IGN] superposition Résumé : (auteur) With the objective of improving the registration of lidar point clouds produced by kinematic scanning systems, we propose a novel trajectory adjustment procedure that leverages on the automated extraction of selected reliable 3D point–to–point correspondences between overlapping point clouds and their joint integration (adjustment) together with raw inertial and GNSS observations. This is performed in a tightly coupled fashion using a dynamic network approach that results in an optimally compensated trajectory through modeling of errors at the sensor, rather than the trajectory, level. The 3D correspondences are formulated as static conditions within the dynamic network and the registered point cloud is generated with significantly higher accuracy based on the corrected trajectory and possibly other parameters determined within the adjustment. We first describe the method for selecting correspondences and how they are inserted into the dynamic network via new observation model while providing an open-source implementation of the solver employed in this work. We then describe the experiments conducted to evaluate the performance of the proposed framework in practical airborne laser scanning scenarios with low-cost MEMS inertial sensors. In the conducted experiments, the method proposed to establish 3D correspondences is effective in determining point–to–point matches across a wide range of geometries such as trees, buildings and cars. Our results demonstrate that the method improves the point cloud registration accuracy (5 in nominal and 10 in emulated GNSS outage conditions within the studied cases), which is otherwise strongly affected by errors in the determined platform attitude or position, and possibly determine unknown boresight angles. The proposed methods remain effective even if only a fraction (0.1%) of the total number of established 3D correspondences are considered in the adjustment. Numéro de notice : A2022-413 Affiliation des auteurs : non IGN Thématique : IMAGERIE Nature : Article nature-HAL : ArtAvecCL-RevueIntern DOI : 10.1016/j.isprsjprs.2022.04.027 Date de publication en ligne : 19/05/2022 En ligne : https://doi.org/10.1016/j.isprsjprs.2022.04.027 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=100764 [article]

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An algorithm to assist the robust filter for tightly coupled RTK/INS navigation system / Zun Niu in Remote sensing, vol 14 n° 10 (May-2 2022)  

Public [article]  inRemote sensing > vol 14 n° 10 (May-2 2022) . - n° 2449 Titre : An algorithm to assist the robust filter for tightly coupled RTK/INS navigation system Type de document : Article/Communication Auteurs : Zun Niu, Auteur ; Guangchen Li, Auteur ; Fugui Guo, Auteur ; et al., Auteur Année de publication : 2022 Article en page(s) : n° 2449 Note générale : bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Navigation et positionnement [Termes IGN] C++ [Termes IGN] centrale inertielle [Termes IGN] erreur de positionnement [Termes IGN] filtre de Kalman [Termes IGN] implémentation (informatique) [Termes IGN] matrice de covariance [Termes IGN] positionnement cinématique en temps réel [Termes IGN] précision du positionnement [Termes IGN] rapport signal sur bruit [Termes IGN] valeur aberrante Résumé : (auteur) The Real-Time Kinematic (RTK) positioning algorithm is a promising positioning technique that can provide real-time centimeter-level positioning precision in GNSS-friendly areas. However, the performance of RTK can degrade in GNSS-hostile areas like urban canyons. The surrounding buildings and trees can reflect and block the Global Navigation Satellite System (GNSS) signals, obstructing GNSS receivers’ ability to maintain signal tracking and exacerbating the multipath effect. A common method to assist RTK is to couple RTK with the Inertial Navigation System (INS). INS can provide accurate short-term relative positioning results. The Extended Kalman Filter (EKF) is usually used to couple RTK with INS, whereas the GNSS outlying observations significantly influence the performance. The Robust Kalman Filter (RKF) is developed to offer resilience against outliers. In this study, we design an algorithm to improve the traditional RKF. We begin by implementing the tightly coupled RTK/INS algorithm and the conventional RKF in C++. We also introduce our specific implementation in detail. Then, we test and analyze the performance of our codes on public datasets. Finally, we propose a novel algorithm to improve RKF and test the improvement. We introduce the Carrier-to-Noise Ratio (CNR) to help detect outliers that should be discarded. The results of the tests show that our new algorithm’s accuracy is improved when compared to the traditional RKF. We also open source the majority of our code, as we find there are few open-source projects for coupled RTK/INS in C++. Researchers can access the codes at our GitHub. Numéro de notice : A2022-401 Affiliation des auteurs : non IGN Thématique : POSITIONNEMENT Nature : Article DOI : 10.3390/rs14102449 Date de publication en ligne : 20/05/2022 En ligne : https://doi.org/10.3390/rs14102449 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=100704 [article]

Assessment of RTK quadcopter and structure-from-motion photogrammetry for fine-scale monitoring of coastal topographic complexity / Stéphane Bertin in Remote sensing, vol 14 n° 7 (April-1 2022)  

Public [article]  inRemote sensing > vol 14 n° 7 (April-1 2022) . - n° 1679 Titre : Assessment of RTK quadcopter and structure-from-motion photogrammetry for fine-scale monitoring of coastal topographic complexity Type de document : Article/Communication Auteurs : Stéphane Bertin, Auteur ; Pierre Stéphan, Auteur ; Jérôme Ammann, Auteur Année de publication : 2022 Article en page(s) : n° 1679 Note générale : bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Applications photogrammétriques [Termes IGN] Bretagne [Termes IGN] centrale inertielle [Termes IGN] données GNSS [Termes IGN] géomorphologie locale [Termes IGN] géoréférencement [Termes IGN] image captée par drone [Termes IGN] point d'appui [Termes IGN] positionnement cinématique en temps réel [Termes IGN] sédiment [Termes IGN] structure-from-motion [Termes IGN] surveillance du littoral Résumé : (auteur) Advances in image-based remote sensing using unmanned aerial vehicles (UAV) and structure-from-motion (SfM) photogrammetry continue to improve our ability to monitor complex landforms over representative spatial and temporal scales. As with other water-worked environments, coastal sediments respond to shaping processes through the formation of multi-scale topographic roughness. Although this topographic complexity can be an important marker of hydrodynamic forces and sediment transport, it is seldom characterized in typical beach surveys due to environmental and technical constraints. In this study, we explore the feasibility of using SfM photogrammetry augmented with an RTK quadcopter for monitoring the coastal topographic complexity at the beach-scale in a macrotidal environment. The method had to respond to resolution and time constraints for a realistic representation of the topo-morphological features from submeter dimensions and survey completion in two hours around low tide to fully cover the intertidal zone. Different tests were performed at two coastal field sites with varied dimensions and morphologies to assess the photogrammetric performance and eventual means for optimization. Our results show that, with precise image positioning, the addition of a single ground control point (GCP) enabled a global precision (RMSE) equivalent to that of traditional GCP-based photogrammetry using numerous and well-distributed GCPs. The optimal model quality that minimized vertical bias and random errors was achieved from 5 GCPs, with a two-fold reduction in RMSE. The image resolution for tie point detection was found to be an important control on the measurement quality, with the best results obtained using images at their original scale. Using these findings enabled designing an efficient and effective workflow for monitoring coastal topographic complexity at a large scale. Numéro de notice : A2022-287 Affiliation des auteurs : non IGN Thématique : IMAGERIE Nature : Article DOI : 10.3390/rs14071679 Date de publication en ligne : 31/03/2022 En ligne : https://doi.org/10.3390/rs14071679 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=100321 [article]

A method of vision aided GNSS positioning using semantic information in complex urban environment / Rui Zhai in Remote sensing, vol 14 n° 4 (February-2 2022)  

Public [article]  inRemote sensing > vol 14 n° 4 (February-2 2022) . - n° 869 Titre : A method of vision aided GNSS positioning using semantic information in complex urban environment Type de document : Article/Communication Auteurs : Rui Zhai, Auteur ; Yunbin Yuan, Auteur Année de publication : 2022 Article en page(s) : n° 869 Note générale : bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Navigation et positionnement [Termes IGN] apprentissage profond [Termes IGN] cartographie et localisation simultanées [Termes IGN] centrale inertielle [Termes IGN] filtre de Kalman [Termes IGN] GNSS assisté pour la navigation [Termes IGN] information sémantique [Termes IGN] milieu urbain [Termes IGN] positionnement cinématique en temps réel [Termes IGN] positionnement par GNSS [Termes IGN] segmentation sémantique [Termes IGN] système de numérisation mobile [Termes IGN] vision par ordinateur Résumé : (auteur) High-precision localization through multi-sensor fusion has become a popular research direction in unmanned driving. However, most previous studies have performed optimally only in open-sky conditions; therefore, high-precision localization in complex urban environments required an urgent solution. The complex urban environments employed in this study include dynamic environments, which result in limited visual localization performance, and highly occluded environments, which yield limited global navigation satellite system (GNSS) performance. In order to provide high-precision localization in these environments, we propose a vision-aided GNSS positioning method using semantic information by integrating stereo cameras and GNSS into a loosely coupled navigation system. To suppress the effect of dynamic objects on visual positioning accuracy, we propose a dynamic-simultaneous localization and mapping (Dynamic-SLAM) algorithm to extract semantic information from images using a deep learning framework. For the GPS-challenged environment, we propose a semantic-based dynamic adaptive Kalman filtering fusion (S-AKF) algorithm to develop vision aided GNSS and achieve stable and high-precision positioning. Experiments were carried out in GNSS-challenged environments using the open-source KITTI dataset to evaluate the performance of the proposed algorithm. The results indicate that the dynamic-SLAM algorithm improved the performance of the visual localization algorithm and effectively suppressed the error spread of the visual localization algorithm. Additionally, after vision was integrated, the loosely-coupled navigation system achieved continuous high-accuracy positioning in GNSS-challenged environments. Numéro de notice : A2022-167 Affiliation des auteurs : non IGN Thématique : IMAGERIE/POSITIONNEMENT Nature : Article DOI : 10.3390/rs14040869 Date de publication en ligne : 11/02/2022 En ligne : https://doi.org/10.3390/rs14040869 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=99792 [article]

The integration of GPS/BDS real-time kinematic positioning and visual–inertial odometry based on smartphones / Zun Niu in ISPRS International journal of geo-information, vol 10 n° 10 (October 2021)  

Public [article]  inISPRS International journal of geo-information > vol 10 n° 10 (October 2021) . - n° 699 Titre : The integration of GPS/BDS real-time kinematic positioning and visual–inertial odometry based on smartphones Type de document : Article/Communication Auteurs : Zun Niu, Auteur ; Fugui Guo, Auteur ; Qiangqiang Shuai, Auteur ; et al., Auteur Année de publication : 2021 Article en page(s) : n° 699 Note générale : bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Navigation et positionnement [Termes IGN] C++ [Termes IGN] centrale inertielle [Termes IGN] filtre de Kalman [Termes IGN] format RINEX [Termes IGN] odomètre [Termes IGN] positionnement cinématique en temps réel [Termes IGN] positionnement par BeiDou [Termes IGN] positionnement par GNSS [Termes IGN] précision du positionnement [Termes IGN] programmation informatique [Termes IGN] robot [Termes IGN] téléphone intelligent [Termes IGN] vision par ordinateur Résumé : (auteur) The real-time kinematic positioning technique (RTK) and visual–inertial odometry (VIO) are both promising positioning technologies. However, RTK degrades in GNSS-hostile areas, where global navigation satellite system (GNSS) signals are reflected and blocked, while VIO is affected by long-term drift. The integration of RTK and VIO can improve the accuracy and robustness of positioning. In recent years, smartphones equipped with multiple sensors have become commodities and can provide measurements for integrating RTK and VIO. This paper verifies the feasibility of integrating RTK and VIO using smartphones, and we propose an improved algorithm to integrate RTK and VIO with better performance. We began by developing an Android smartphone application for data collection and then wrote a Python program to convert the data to a robot operating system (ROS) bag. Next, we established two ROS nodes to calculate the RTK results and accomplish the integration. Finally, we conducted experiments in urban areas to assess the integration of RTK and VIO based on smartphones. The results demonstrate that the integration improves the accuracy and robustness of positioning and that our improved algorithm reduces altitude deviation. Our work can aid navigation and positioning research, which is the reason why we open source the majority of the codes at our GitHub. Numéro de notice : A2021-800 Affiliation des auteurs : non IGN Thématique : POSITIONNEMENT Nature : Article nature-HAL : ArtAvecCL-RevueIntern DOI : 10.3390/ijgi10100699 Date de publication en ligne : 14/10/2021 En ligne : https://doi.org/10.3390/ijgi10100699 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=98852 [article]

Multi-GNSS PPP/INS tightly coupled integration with atmospheric augmentation and its application in urban vehicle navigation / Shengfeng Gu in Journal of geodesy, vol 95 n° 6 (June 2021)  

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Spherically optimized RANSAC aided by an IMU for Fisheye Image Matching / Anbang Liang in Remote sensing, vol 13 n°10 (May-2 2021)  

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Horizontal calibration of vessels with UASs / Casey O'Heran in Marine geodesy, vol 44 n° 2 (March 2021)  

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Enhanced trajectory estimation of mobile laser scanners using aerial images / Zille Hussnain in ISPRS Journal of photogrammetry and remote sensing, vol 173 (March 2021)  

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Improving trajectory estimation using 3D city models and kinematic point clouds / Lucas Lucks in Transactions in GIS, Vol 25 n° 1 (February 2021)  

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Intelligent embedded camera for robust object tracking on mobile platform / Imane Salhi (2021)  

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A low-cost integrated MEMS-based INS/GPS vehicle navigation system with challenging conditions based on an optimized IT2FNN in occluded environments / Elahe S. Abdolkarimi in GPS solutions, Vol 24 n° 4 (October 2020)  

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Urban Wi-Fi fingerprinting along a public transport route / Guenther Retscher in Journal of applied geodesy, vol 14 n° 4 (October 2020)  

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Accuracy assessment of real-time kinematics (RTK) measurements on unmanned aerial vehicles (UAV) for direct geo-referencing / Desta Ekaso in Geo-spatial Information Science, vol 23 n° 2 (June 2020)  

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Impact of temperature stabilization on the strapdown airborne gravimetry: a case study in Central Turkey / Mehmet Simav in Journal of geodesy, vol 94 n°4 (April 2020)  

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