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Smoothing algorithms for navigation, localisation and mapping based on high-grade inertial sensors / Paul Chauchat (2020)
Titre : Smoothing algorithms for navigation, localisation and mapping based on high-grade inertial sensors Type de document : Thèse/HDR Auteurs : Paul Chauchat, Auteur ; Silvère Bonnabel, Directeur de thèse Editeur : Paris : Université Paris Sciences et Lettres Année de publication : 2020 Importance : 135 p. Format : 21 x 30 cm Note générale : bibliographie
Thèse de Doctorat de l'Université Paris Sciences et Lettres, Informatique temps réel, robotique, automatiqueLangues : Anglais (eng) Descripteur : [Vedettes matières IGN] Navigation et positionnement
[Termes IGN] cadre conceptuel
[Termes IGN] cartographie et localisation simultanées
[Termes IGN] centrale inertielle
[Termes IGN] filtre de Kalman
[Termes IGN] itération
[Termes IGN] lissage de données
[Termes IGN] navigation inertielle
[Termes IGN] robotiqueIndex. décimale : THESE Thèses et HDR Résumé : (auteur) Mobile systems need to locate themselves ever more accurately, and in ever more complex situations. This is in particular true for autonomous systems, for which controlling the position error is a critical safety issue. To this end, they are endowed with various sensors, the data of which are fused to obtain an estimate of the vehicle’s location, either globally (with the GPS for instance), or locally, with respect to its surroundings (with cameras for instance). This thesis investigates algorithms for localisation by sensor fusion, namely filtering and especially smoothing, when the mobile is equipped with high-grade inertial sensors. The first part deals with the nonlinear consequences of the use of high-grade inertial sensors, and demonstrates how the nonlinear structure of both filtering and smoothing algorithms may be improved by leveraging the invariant filtering framework. The second part deals with the problems incurred by the linear solvers that are used at each step of nonlinear smoothing algorithms as a result of having highly precise sensors. It introduces a novel least-squares linear solver that solves the issues. Note de contenu : Introduction
I- From Invariant filtering to invariant smoothing
II- Navigation with highly precise sensors
ConclusionNuméro de notice : 28576 Affiliation des auteurs : non IGN Thématique : INFORMATIQUE/POSITIONNEMENT Nature : Thèse française Note de thèse : thèse de Doctorat : Informatique temps réel, robotique, automatique : Paris Sciences et Lettres : 2020 Organisme de stage : Centre de robotique (Paris) En ligne : https://pastel.archives-ouvertes.fr/tel-02887295/document Format de la ressource électronique : URL Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=97843
Titre : Contour lines generation in karstic plateaus for topographic maps Type de document : Article/Communication Auteurs : Guillaume Touya , Auteur ; Hugo Boulze , Auteur ; Anouk Schleich, Auteur ; Hervé Quinquenel , Auteur Editeur : International Cartographic Association ICA - Association cartographique internationale ACI Année de publication : 2019 Autre Editeur : Göttingen : Copernicus publications Collection : Proceedings of the ICA Projets : 1-Pas de projet / Conférence : ICC 2019, 29th International Cartographic Conference ICA, Mapping everything for everyone 15/07/2019 20/07/2019 Tokyo Japon Open Access Proceedings of the ICA Importance : 8 p. Format : 21 x 30 cm Note générale : bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Applications photogrammétriques
[Termes IGN] carte topographique
[Termes IGN] contour
[Termes IGN] données lidar
[Termes IGN] données localisées 3D
[Termes IGN] effondrement de terrain
[Termes IGN] grotte
[Termes IGN] Jura, massif du
[Termes IGN] karst
[Termes IGN] lissage de données
[Termes IGN] modèle numérique de terrain
[Termes IGN] QGISRésumé : (auteur) Contour lines are a key features of topographic maps as they make the comprehension of terrain more easy. But they are no longer drawn by cartographers, they are mostly automatically derived from digital terrain models. Despite real progress in this automated derivation, some specific terrain landscapes remain incorrectly depicted with such techniques, and this is the case for karstic plateaus full of sinkholes. This paper proposes a specific automated method to derive better contour lines in plateaus, particularly around sinkholes. The process first detects karstic plateaus with many sinkholes, as well as the individual sinkholes. Then, the DTM is smoothed to better reflect the terrain in the plateau and in its surroundings. As a third step, the contour lines around sinkholes are enhanced to draw legible round features that better reflect the real terrain. The process was implemented in a QGIS plugin and tested on a small area with a karstic plateau in the Jura mountain in France, and the cartographers of IGN, the French national mapping agency assessed the results as a great improvement compared to the generic automated process to derive contour lines. Numéro de notice : C2019-011 Affiliation des auteurs : LASTIG COGIT (2012-2019) Thématique : GEOMATIQUE/IMAGERIE Nature : Communication nature-HAL : ComAvecCL&ActesPubliésIntl DOI : 10.5194/ica-proc-2-133-2019 Date de publication en ligne : 10/07/2019 En ligne : http://dx.doi.org/10.5194/ica-proc-2-133-2019 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=93259 Voir aussiDocuments numériques
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Contour lines generation - pdf éditeurAdobe Acrobat PDF Automated extraction of 3D vector topographic feature line from terrain point cloud / Wei Zhou in Geocarto international, vol 33 n° 10 (October 2018)
[article]
Titre : Automated extraction of 3D vector topographic feature line from terrain point cloud Type de document : Article/Communication Auteurs : Wei Zhou, Auteur ; Rencan Peng, Auteur ; Jian Dong, Auteur ; Tao Wang, Auteur Année de publication : 2018 Article en page(s) : pp 1036 - 1047 Note générale : bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Applications photogrammétriques
[Termes IGN] arbre aléatoire minimum
[Termes IGN] détection d'objet
[Termes IGN] extraction de traits caractéristiques
[Termes IGN] ligne caractéristique
[Termes IGN] lissage de données
[Termes IGN] modèle numérique de terrain
[Termes IGN] objet géographique linéaire
[Termes IGN] repère de Laplace
[Termes IGN] segmentation en régions
[Termes IGN] semis de pointsRésumé : (auteur) This paper presents an automated topographic feature lines detection method that directly extracts 3D vector topographic feature lines from terrain point cloud. First, signed surface variation (SSV) is introduced to extract the potential feature points. Secondly, the potential feature points are segmented to different clusters by combining region growing segmentation and conditional Euclidean clustering. In order to extract feature points, the potential feature points in each cluster are iteratively thinned using a HC-Laplacian smoothing method with SSV weighted taken into account. Besides, SSV-based and elevation-based simple rules are added for accelerating this thinning process. Finally, the feature lines are obtained by constructing the minimum spanning tree of the extracted feature points. By comparing with manually digitized reference lines, the correctness and the completeness of extracted results are about 80% or even higher, which are much higher than those extracted by D8 algorithm. Numéro de notice : A2019-046 Affiliation des auteurs : non IGN Thématique : IMAGERIE Nature : Article nature-HAL : ArtAvecCL-RevueIntern DOI : 10.1080/10106049.2017.1325521 Date de publication en ligne : 18/05/2017 En ligne : https://doi.org/10.1080/10106049.2017.1325521 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=92064
in Geocarto international > vol 33 n° 10 (October 2018) . - pp 1036 - 1047[article]Réservation
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Code-barres Cote Support Localisation Section Disponibilité 059-2018041 RAB Revue Centre de documentation En réserve L003 Disponible A structured regularization framework for spatially smoothing semantic labelings of 3D point clouds / Loïc Landrieu in ISPRS Journal of photogrammetry and remote sensing, vol 132 (October 2017)
[article]
Titre : A structured regularization framework for spatially smoothing semantic labelings of 3D point clouds Type de document : Article/Communication Auteurs : Loïc Landrieu , Auteur ; Hugo Raguet, Auteur ; Bruno Vallet , Auteur ; Clément Mallet , Auteur ; Martin Weinmann, Auteur Année de publication : 2017 Projets : 1-Pas de projet / Article en page(s) : pp 102 - 118 Note générale : Bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Lasergrammétrie
[Termes IGN] attribut sémantique
[Termes IGN] données localisées 3D
[Termes IGN] interprétation automatique
[Termes IGN] lissage de données
[Termes IGN] optimisation (mathématiques)
[Termes IGN] régularisation d'image
[Termes IGN] scène
[Termes IGN] semis de pointsRésumé : (Auteur) In this paper, we introduce a mathematical framework for obtaining spatially smooth semantic labelings of 3D point clouds from a pointwise classification. We argue that structured regularization offers a more versatile alternative to the standard graphical model approach. Indeed, our framework allows us to choose between a wide range of fidelity functions and regularizers, influencing the properties of the solution. In particular, we investigate the conditions under which the smoothed labeling remains probabilistic in nature, allowing us to measure the uncertainty associated with each label. Finally, we present efficient algorithms to solve the corresponding optimization problems.
To demonstrate the performance of our approach, we present classification results derived for standard benchmark datasets. We demonstrate that the structured regularization framework offers higher accuracy at a lighter computational cost in comparison to the classic graphical model approach.Numéro de notice : A2017-641 Affiliation des auteurs : LASTIG MATIS+Ext (2012-2019) Thématique : IMAGERIE Nature : Article nature-HAL : ArtAvecCL-RevueIntern DOI : 10.1016/j.isprsjprs.2017.08.010 Date de publication en ligne : 11/09/2017 En ligne : https://doi.org/10.1016/j.isprsjprs.2017.08.010 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=86998
in ISPRS Journal of photogrammetry and remote sensing > vol 132 (October 2017) . - pp 102 - 118[article]Réservation
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Code-barres Cote Support Localisation Section Disponibilité 081-2017101 RAB Revue Centre de documentation En réserve L003 Disponible 081-2017102 DEP-EAF Revue Nancy Dépôt en unité Exclu du prêt 081-2017103 DEP-EXM Revue Saint-Mandé Dépôt en unité Exclu du prêt Documents numériques
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A structured regularization framework ... - preprintAdobe Acrobat PDF A greedy-based multiquadric method for LiDAR-derived ground data reduction / Chuanfa Chen in ISPRS Journal of photogrammetry and remote sensing, vol 102 (April 2015)
[article]
Titre : A greedy-based multiquadric method for LiDAR-derived ground data reduction Type de document : Article/Communication Auteurs : Chuanfa Chen, Auteur ; Changqing Yan, Auteur ; Xuewei Cao, Auteur ; Jinyun Guo, Auteur ; et al., Auteur Année de publication : 2015 Article en page(s) : pp 110 - 121 Note générale : bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Lasergrammétrie
[Termes IGN] données de terrain
[Termes IGN] données lidar
[Termes IGN] données localisées 3D
[Termes IGN] interpolation
[Termes IGN] lissage de données
[Termes IGN] modèle numérique de surface
[Termes IGN] réductionRésumé : (auteur) A new greedy-based multiquadric method (MQ-G) has been developed to perform LiDAR-derived ground data reduction by selecting a certain amount of significant terrain points from the raw dataset to keep the accuracy of the constructed DEMs as high as possible, while maximally retaining terrain features. In the process of MQ-G, the significant terrain points were selected with an iterative process. First, the points with the maximum and minimum elevations were selected as the initial significant points. Next, a smoothing MQ was employed to perform an interpolation with the selected critical points. Then, the importance of all candidate points was assessed by interpolation error (i.e. the absolute difference between the interpolated and actual elevations). Lastly, the most significant point in the current iteration was selected and used for point selection in the next iteration. The process was repeated until the number of selected points reached a pre-set level or no point was found to have the interpolation error exceeding a user-specified accuracy tolerance. In order to avoid the huge computing cost, a new technique was presented to quickly solve the systems of MQ equations in the global interpolation process, and then the global MQ was replaced with the local one when a certain amount of critical points were selected. Four study sites with different morphologies (i.e. flat, undulating, hilly and mountainous terrains) were respectively employed to comparatively analyze the performances of MQ-G and the classical data selection methods including maximum z-tolerance (Max-Z) and the random method for reducing LiDAR-derived ground datasets. Results show that irrespective of the number of selected critical points and terrain characteristics, MQ-G is always more accurate than the other methods for DEM construction. Moreover, MQ-G has a better ability of preserving terrain feature lines, especially for the undulating and hilly terrains. Numéro de notice : A2015-693 Affiliation des auteurs : non IGN Thématique : IMAGERIE Nature : Article nature-HAL : ArtAvecCL-RevueIntern DOI : 10.1016/j.isprsjprs.2015.01.012 En ligne : https://doi.org/10.1016/j.isprsjprs.2015.01.012 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=78327
in ISPRS Journal of photogrammetry and remote sensing > vol 102 (April 2015) . - pp 110 - 121[article]The guided bilateral filter: When the joint/cross bilateral filter becomes robust / Laurent Caraffa in IEEE Transactions on image processing, vol 24 n° 4 (April 2015)PermalinkThe Guided Bilateral Filter: When the Joint/Cross Bilateral Filter Becomes Robust / Laurent Caraffa (2015)PermalinkEarthEnv-DEM90: A nearly-global, void-free, multi-scale smoothed, 90m digital elevation model from fused ASTER and SRTM data / Natalie Robinson in ISPRS Journal of photogrammetry and remote sensing, vol 87 (January 2014)PermalinkImproving representation of land-use maps derived from object-oriented image classification / Wenxiu Gao in Transactions in GIS, vol 17 n° 3 (June 2013)PermalinkVisual abstraction and stylisation of maps / Tobias Isenberg in Cartographic journal (the), vol 50 n° 1 (February 2013)PermalinkAssessment of regression kriging for spatial interpolation: comparisons of seven GIS interpolation methods / Qingmin Meng in Cartography and Geographic Information Science, vol 40 n° 1 (January 2013)PermalinkStreet-level spatial interpolation using network-based IDW and ordinary kriging / N. Shiode in Transactions in GIS, vol 15 n° 4 (August 2011)PermalinkDoppler-aided positioning: Improving single-frequency in the urban environment / M. Bahrami in GPS world, vol 22 n° 5 (May 2011)PermalinkImage fusion by spatially adaptive filtering using downscaling cokriging / E. Pardo-Iguzquiza in ISPRS Journal of photogrammetry and remote sensing, vol 66 n° 3 (May - June 2011)PermalinkPermalink