Localization corrections for mobile laser scanner using local support-based outlier filtering

V. V. Lehtola, J.-p. Virtanen, P. Rönnholm, A. Nüchter

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

5 Citations (Scopus)
26 Downloads (Pure)

Abstract

Following the pioneering work introduced in [Lehtola et al., ISPRS J. Photogramm. Remote Sens. 99, 2015, pp. 25–29], we extend the state-of-the-art intrinsic localization solution for a single two-dimensional (2D) laser scanner from one into (quasi) three dimensions (3D). By intrinsic localization, we mean that no external sensors are used to localize the scanner, such as inertial measurement devices (IMU) or global navigation satellite systems (GNSS). Specifically, the proposed method builds on a novel concept of local support-based filtering of outliers, which enables the use of six degrees-of-freedom (DoF) simultaneous localization and mapping (SLAM) for the purpose of enacting appropriate trajectory corrections into the previous one-dimensional solution. Moreover, the local support-based filtering concept is platform independent, and is therefore likely to be widely generalizable. The here presented overall method is yet limited into quasi-3D by its inability to recover trajectories with steep curvature, but in the future, it may be further extended into full 3D.
Original languageEnglish
Title of host publicationISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences
Place of PublicationPrague
Pages81-88
Number of pages8
VolumeIII-4
DOIs
Publication statusPublished - 2016
Externally publishedYes
Event23rd International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences Congress, ISPRS 2016 - Prague, Czech Republic
Duration: 12 Jul 201619 Jul 2016
Conference number: 23
http://www.isprs.org/publications/archives.aspx (Full text Open Access proceedings)

Publication series

NameISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences
PublisherCopernicus GmbH
ISSN (Print)2194-9042

Conference

Conference23rd International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences Congress, ISPRS 2016
Abbreviated titleISPRS 2016
CountryCzech Republic
CityPrague
Period12/07/1619/07/16
Internet address

Keywords

  • ITC-GOLD

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