GIMPHI: A new integration approach for early impact assessment

M. De Agostino, A. Lingua, D. Marenchino, F. Nex, M. Piras

Research output: Contribution to conferencePaperAcademicpeer-review

Abstract

In the early impact assessment, a useful instrument for early mapping and rescue assessment can be the Mobile Mapping System. In this context, the Politecnico di Torino research team has developed a Low Cost System, where only low cost sensors are involved. The system is equipped with webcams, a MEMS IMU and up to three GNSS receivers. The main problem of this low cost system is when some GNSS outages occur. In this case, the IMU can estimate the trajectory and the attitude of the vehicle, adopting particular integration algorithms, such as the loosely or the tightly coupled in order to improve the IMU performance reducing the gyroscope and accelerometer drifts, but only for short periods (<25 s). For this reason, a new approach has been developed integrating the GNSS/IMU trajectory and attitude with the information achieved from web-cameras by means of a photogrammetric process. Using a novel Auto-Adaptive Scale-Invariant Feature Transform (A2SIFT) algorithm, tie points are extracted from sequences of images in every taking and image texture conditions. In order to manage all these sensors, an integrated positioning algorithm (GIMPHI, GNSS/IMU and PHotogrammetry Integration) has been developed by our group. A rigorous weight matrix is used in order to consider the different accuracies of the various observations (GNSS, IMU, images) and to achieve the position and the attitude of the vehicle at each epoch. In this paper a detailed description of this integrated approach is presented; then, the first tests and the achieved results are shown in order to evaluate the goodness of the proposed approach.

Original languageEnglish
Number of pages6
Publication statusPublished - Feb 2010
Externally publishedYes
Event6th International Symposium on Geo-Information for Disaster Management, Gi4DM 2010 - Torino, Italy
Duration: 2 Feb 20104 Feb 2010

Conference

Conference6th International Symposium on Geo-Information for Disaster Management, Gi4DM 2010
CountryItaly
CityTorino
Period2/02/104/02/10

Keywords

  • Bundle block
  • GNSS/INS
  • Impact analysis
  • Integration
  • Multisensor

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