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Enhanced 3D mapping with an RGB-D sensor via integration of depth measurements and image sequences / Bo Wu in Photogrammetric Engineering & Remote Sensing, PERS, vol 85 n° 9 (September 2019)  

Public [article]  inPhotogrammetric Engineering & Remote Sensing, PERS > vol 85 n° 9 (September 2019) . - pp 633 - 642 Titre : Enhanced 3D mapping with an RGB-D sensor via integration of depth measurements and image sequences Type de document : Article/Communication Auteurs : Bo Wu, Auteur ; Xuming Ge, Auteur ; Linfu Xie, Auteur ; Wu Chen, Auteur Année de publication : 2019 Article en page(s) : pp 633 - 642 Note générale : Bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Traitement d'image optique [Termes descripteurs IGN] carte d'intérieur [Termes descripteurs IGN] carte de profondeur [Termes descripteurs IGN] cartographie 3D [Termes descripteurs IGN] données localisées 3D [Termes descripteurs IGN] état de l'art [Termes descripteurs IGN] image RVB [Termes descripteurs IGN] intégration de données [Termes descripteurs IGN] modélisation 3D [Termes descripteurs IGN] semis de points [Termes descripteurs IGN] séquence d'images [Termes descripteurs IGN] Simultaneous Localisation And Mapping [Termes descripteurs IGN] structure-from-motion Résumé : (Auteur) State-of-the-art visual simultaneous localization and mapping (SLAM) techniques greatly facilitate three-dimensional (3D) mapping and modeling with the use of low-cost red-green-blue-depth (RGB-D) sensors. However, the effective range of such sensors is limited due to the working range of the infra-red (IR) camera, which provides depth information, and thus the practicability of such sensors in 3D mapping and modeling is limited. To address this limitation, we present a novel solution for enhanced 3D mapping using a low-cost RGB-D sensor. We carry out state-of-the-art visual SLAM to obtain 3D point clouds within the mapping range of the RGB-D sensor and implement an improved structure-from-motion (SfM) on the collected RGB image sequences with additional constraints from the depth information to produce image-based 3D point clouds. We then develop a feature-based scale-adaptive registration to merge the gained point clouds to further generate enhanced and extended 3D mapping results. We use two challenging test sites to examine the proposed method. At these two sites, the coverage of both generated 3D models increases by more than 50% with the proposed solution. Moreover, the proposed solution achieves a geometric accuracy of about 1% in a measurement range of about 20 m. These positive experimental results not only demonstrate the feasibility and practicality of the proposed solution but also its potential. Numéro de notice : A2019-415 Thématique : IMAGERIE Nature : Article nature-HAL : ArtAvecCL-RevueIntern DOI : 10.14358/PERS.85.9.633 date de publication en ligne : 01/09/2019 En ligne : https://doi.org/10.14358/PERS.85.9.633 Format de la ressource électronique : URL Article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=93542 [article]

Low-complexity online correction and calibration of pedestrian dead reckoning using map matching and GPS / Fabian Hölzke in Geo-spatial Information Science, vol 22 n° 2 (June 2019)  

Public [article]  inGeo-spatial Information Science > vol 22 n° 2 (June 2019) . - pp 114 - 127 Titre : Low-complexity online correction and calibration of pedestrian dead reckoning using map matching and GPS Type de document : Article/Communication Auteurs : Fabian Hölzke, Auteur ; Johann-P. Wolff, Auteur ; Frank Golatowski, Auteur ; Christian Haubelt, Auteur Année de publication : 2019 Article en page(s) : pp 114 - 127 Note générale : Bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Navigation et positionnement [Termes descripteurs IGN] carte d'intérieur [Termes descripteurs IGN] données GPS [Termes descripteurs IGN] navigation à l'estime [Termes descripteurs IGN] navigation pédestre [Termes descripteurs IGN] positionnement en intérieur Résumé : (Auteur) Dead Reckoning is a relative positioning scheme that is used to infer the change of position relative to a point of origin by measuring the traveled distance and orientation change. Pedestrian Dead Reckoning (PDR) applies this concept to walking persons. The method can be used to track someone's movement in a building after a known landmark like the building's entrance is registered. Here, the movement of a foot and the corresponding direction change is measured and summed up, to infer the current position. Measuring and integrating the corresponding physical parameters, e.g. using inertial sensors, introduces small errors that accumulate quickly into large distance errors. Knowledge of a buildings geography may reduce these errors as it can be used to keep the estimated position from moving through walls and onto likely paths. In this paper, we use building maps to improve localization based on a single foot-mounted inertial sensor. We describe our localization method using zero velocity updates to accurately compute the length of individual steps and a Madgwick filter to determine the step orientation. Even though the computation of individual steps is quite accurate, small errors still accumulate in the long term. We show how correction algorithms using likely and unlikely paths can rectify errors intrinsic to pedestrian dead reckoning tasks, such as orientation and displacement drift, and discuss restrictions and disadvantages of these algorithms. We also present a method of deriving the initial position and orientation from GPS measurements. We verify our PDR correction methods analyzing the corrected and raw trajectories of six participants walking four routes of varying length and complexity through an office building, walking each route three times. Our quantitative results show an endpoint accuracy improvement of up to 60% when using likely paths and 23% when using unlikely paths. However, both approaches can also decrease accuracy in certain scenarios. We identify those scenarios and offer further ideas for improving Pedestrian Dead Reckoning methods. Numéro de notice : A2019-323 Thématique : POSITIONNEMENT Nature : Article nature-HAL : ArtAvecCL-RevueIntern DOI : 10.1080/10095020.2019.1617528 date de publication en ligne : 30/05/2019 En ligne : https://doi.org/10.1080/10095020.2019.1617528 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=93323 [article]

Point clouds by SLAM-based mobile mapping systems: accuracy and geometric content validation in multisensor survey and stand-alone acquisition / Giulia Sammartano in Applied geomatics, vol 10 n° 4 (December 2018)  

Public [article]  inApplied geomatics > vol 10 n° 4 (December 2018) . - pp 317 - 339 Titre : Point clouds by SLAM-based mobile mapping systems: accuracy and geometric content validation in multisensor survey and stand-alone acquisition Type de document : Article/Communication Auteurs : Giulia Sammartano, Auteur ; Antonia Spanò, Auteur Année de publication : 2018 Article en page(s) : pp 317 - 339 Note générale : Bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Applications photogrammétriques [Termes descripteurs IGN] analyse comparative [Termes descripteurs IGN] carte d'intérieur [Termes descripteurs IGN] cartographie 3D [Termes descripteurs IGN] données localisées 3D [Termes descripteurs IGN] intégration de données [Termes descripteurs IGN] lever souterrain [Termes descripteurs IGN] modèle 3D du site [Termes descripteurs IGN] patrimoine culturel [Termes descripteurs IGN] patrimoine immobilier [Termes descripteurs IGN] semis de points [Termes descripteurs IGN] Simultaneous Localisation And Mapping Résumé : (Auteur) The paper provides some operative replies to evaluate the effectiveness and the critical issues of the simultaneous localisation and mapping (SLAM)-based mobile mapping system (MMS) called ZEB by GeoSLAM™ https://geoslam.com/technology/. In these last years, this type of handheld 3D mapping technology has increasingly developed the framework of portable solutions for close-range mapping systems that have mainly been devoted to mapping the indoor building spaces of enclosed or underground environments, such as forestry applications and tunnels or mines. The research introduces a set of test datasets related to the documentation of landscape contexts or the 3D modelling of architectural complexes. These datasets are used to validate the accuracy and informative content richness about ZEB point clouds in stand-alone solutions and in cases of combined applications of this technology with multisensor survey approaches. In detail, the proposed validation method follows the fulfilment of the endorsed approach by use of root mean square error (RMSE) evaluation and deviation analysis assessment of point clouds between SLAM-based data and 3D point cloud surfaces computed by more precise measurement methods to evaluate the accuracy of the proposed approach. Furthermore, this study specifies the suitable scale for possible handlings about these peculiar point clouds and uses the profile extraction method in addition to feature analyses such as corner and plane deviation analysis of architectural elements. Finally, because of the experiences reported in the literature and performed in this work, a possible reversal is suggested. If in the 2000s, most studies focused on intelligently reducing the light detection and ranging (LiDAR) point clouds where they presented redundant and not useful information, contrariwise, in this sense, the use of MMS methods is proposed to be firstly considered and then to increase the information only wherever needed with more accurate high-scale methods. Numéro de notice : A2018-590 Thématique : IMAGERIE Nature : Article nature-HAL : ArtAvecCL-RevueIntern DOI : 10.1007/s12518-018-0221-7 date de publication en ligne : 01/06/2018 En ligne : https://doi.org/10.1007/s12518-018-0221-7 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=92514 [article]

Study the precision of creating 3D structure modeling from terrestrial laser scanner observations / Zaki M. Zeidan in Journal of applied geodesy, vol 12 n° 4 (October 2018)  

Public [article]  inJournal of applied geodesy > vol 12 n° 4 (October 2018) . - pp. 303 - 310 Titre : Study the precision of creating 3D structure modeling from terrestrial laser scanner observations Type de document : Article/Communication Auteurs : Zaki M. Zeidan, Auteur ; Ashraf A. Beshr, Auteur ; Ashraf G. Shehata, Auteur Année de publication : 2018 Article en page(s) : pp. 303 - 310 Note générale : bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Lasergrammétrie [Termes descripteurs IGN] analyse comparative [Termes descripteurs IGN] carte d'intérieur [Termes descripteurs IGN] données lidar [Termes descripteurs IGN] données localisées 3D [Termes descripteurs IGN] modélisation 3D [Termes descripteurs IGN] précision des données [Termes descripteurs IGN] qualité des données [Termes descripteurs IGN] semis de points [Termes descripteurs IGN] télémétrie laser terrestre Résumé : (auteur) Laser scanner has become widely used nowadays for several applications in civil engineering. An advantage of laser scanner as compared to other geodetic instruments is its capability of collecting hundreds or even thousands of point per second. Terrestrial laser scanner allows acquiring easy and fast complex geometric data from building, machines, objects, etc. Several experimental and field tests are required to investigate the quality and accuracy of scanner points cloud and the 3D geometric models derived from laser scanner. So this paper investigates the precision of creation three dimensional structural model resulted from terrestrial laser scanner observations. The paper also presented the ability to create 3D model by structural faces depending on the plane equation for each face resulted from coordinates of several observed points cover this face using reflector less total station observations. Precision comparison for the quality of 3D models created from laser scanner observations and structure faces is also presented.The results of the practical measurements, calculations and analysis of results are presented. Numéro de notice : A2018-434 Thématique : IMAGERIE Nature : Article nature-HAL : ArtAvecCL-RevueIntern DOI : 10.1515/jag-2018-0009 date de publication en ligne : 29/08/2018 En ligne : https://doi.org/10.1515/jag-2018-0009 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=91002 [article]

Three-point-based solution for automated motion parameter estimation of a multi-camera indoor mapping system with planar motion constraint / Fangning He in ISPRS Journal of photogrammetry and remote sensing, vol 142 (August 2018)  

Public [article]  inISPRS Journal of photogrammetry and remote sensing > vol 142 (August 2018) . - pp 278 - 291 Titre : Three-point-based solution for automated motion parameter estimation of a multi-camera indoor mapping system with planar motion constraint Type de document : Article/Communication Auteurs : Fangning He, Auteur ; Ayman Habib, Auteur Année de publication : 2018 Article en page(s) : pp 278 - 291 Note générale : Bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Traitement d'image [Termes descripteurs IGN] appariement d'images [Termes descripteurs IGN] carte d'intérieur [Termes descripteurs IGN] compensation par faisceaux [Termes descripteurs IGN] coplanarité [Termes descripteurs IGN] élément d'orientation interne [Termes descripteurs IGN] modélisation 3D [Termes descripteurs IGN] orientation relative [Termes descripteurs IGN] Ransac (algorithme) [Termes descripteurs IGN] reconstruction 3D [Termes descripteurs IGN] structure-from-motion [Termes descripteurs IGN] valeur aberrante Résumé : (auteur) Accurate indoor 3D models have become a key prerequisite for various applications. Through state-of-the-art image processing techniques, 3D models can be generated from high quality images captured by off-the-shelf digital cameras. To acquire redundant data and produce real scale models, a multi-camera system can be used. However, dedicated approaches for image-based 3D reconstruction using mapping platforms equipped with multiple cameras have not been fully addressed. Assuming the availability of prior information regarding the platform trajectory, this paper presents a new approach for reliable estimation of system motion parameters between different data acquisition epochs of a multi-camera system. This approach, which assumes planar motion of the utilized platform, provides a three-point closed-form solution. The derived solutions are then incorporated within a modified RANSAC framework for outlier detection/removal. It is worth noting that, different from the existing General Camera Model (GCM)-based solutions, the proposed approach is based on a modified co-planarity model, which is essentially a direct extension of the classic stereo-based relative orientation. Moreover, since the proposed approach only provides a maximum number of four possible solutions for system motion parameters over different epochs, it has better computational efficiency when compared to other existing algorithms. Experimental results from real datasets acquired with different configurations have demonstrated the reliability of the proposed approach in motion parameter estimation for indoor multi-camera mapping systems. Numéro de notice : A2018-297 Thématique : IMAGERIE Nature : Article nature-HAL : ArtAvecCL-RevueIntern DOI : 10.1016/j.isprsjprs.2018.06.011 date de publication en ligne : 01/08/2018 En ligne : https://doi.org/10.1016/j.isprsjprs.2018.06.011 Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=90417 [article]

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