Localization of a mobile laser scanner via dimensional reduction

V.V. Lehtola, Juho-Pekka Virtanen, Matti T. Vaaja, Hannu Hyyppa, Andreas Nuechter

Research output: Contribution to journalArticleAcademicpeer-review

12 Citations (Scopus)

Abstract

We extend the concept of intrinsic localization from a theoretical one-dimensional (1D) solution onto a 2D manifold that is embedded in a 3D space, and then recover the full six degrees of freedom for a mobile laser scanner with a simultaneous localization and mapping algorithm (SLAM). By intrinsic localization, we mean that no reference coordinate system, such as global navigation satellite system (GNSS), nor inertial measurement unit (IMU) are used. Experiments are conducted with a 2D laser scanner mounted on a rolling prototype platform, VILMA. The concept offers potential in being extendable to other wheeled platforms.
Original languageEnglish
Pages (from-to)48-59
Number of pages12
JournalISPRS journal of photogrammetry and remote sensing
Volume121
DOIs
Publication statusPublished - Nov 2016
Externally publishedYes

Keywords

  • Localization
  • Positioning
  • 3D reconstruction
  • Lidar
  • Slam
  • ITC-ISI-JOURNAL-ARTICLE

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