A System for Generating Spatial Information utilizing RTK GPS/INS/Stereo Camera for 3D Map-Based Hybrid Navigation

Lee, Yu Dam; Choi, Kwang Ho; Lim, JoonHoo; Yoo, Won Jae; Kim, La Woo

doi:10.5302/j.icros.2018.0054

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Absolute Coordinates Of Point Clouds With Attitude Error Compensation1

Introduction1

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2019

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Cited by 2 publications

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“…The line ② can be considered by the relative coordinates of point clouds in the camera frame. If it is assumed that all of modules are aligned, the relative coordinates are converted to the absolute coordinates [5].…”

Section: Absolute Coordinates Of Point Clouds With Attitude Error Compensationmentioning

confidence: 99%

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Feature coordinate estimation by time differenced vision/GPS/INS

et al. 2019

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This paper proposes a multi-baseline method to estimate absolute coordinates of point clouds and the camera attitude parameter utilizing feature points in successive images. Conventionally, 3D map generation methodologies have been based on images acquired by aerial or land vehicles. Pixels corresponding to known landmarks are manually identified at first. Next, the coordinates are directly geo-referenced and automatically allocated to pixels with high-quality Global Positioning System (GPS) and Inertial Navigation System (INS). However, it is difficult to obtain accurate coordinates by the conventional methodology with low-cost GPS and INS. With camera positions and attitude parameters, image-based point clouds can be compensated accurately. A simulation was carried out to evaluate the performance of the proposed method.

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Section: Absolute Coordinates Of Point Clouds With Attitude Error Compensationmentioning

confidence: 99%

“…Their coordinates can be directly geo-referenced and automatically processed with high-quality Global Positioning System (GPS) and Inertial Navigation System (INS). However, due to insufficient accuracy, it is hard to obtain their accurate coordinates [1,2,3,5].…”

Section: Introductionmentioning

confidence: 99%