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Calibration and Evaluation of Kinematic Multi Sensor Systems

The IGG Bonn is currently developing a test field for the calibration and evaluation of kinematic multi sensor systems. This test field consists of a rail-bound reference trajectory, a reference point field with measuring pillars and fixed markings at buildings as well as special calibration and evaluation objects. The key issue of this research project is to answer the question how the test field has to be designed to allow for a good calibration and a comprehensive evaluation.

Calibration by using reference planes

 

Figure1

Plane-based calibration of mobile laser scanning systems (both intrinsic and extrinsic calibration parameters).

Figure2

Installation of a permanent calibration field with face concrete reference planes.

Figure3

Simulation, analysis and refinement of the network configuration for the plane-based calibration procedure in order to obtain good calibration parameters (small variances, uncorrelated).

 

Evaluation of kinematic object acquisition

 

Figure4

 

Accuracy analysis for kinematic multi sensor systems by comparing kinematic point clouds with reference point clouds of a terrestrial laser scanner. This picture shows the results for a portable laser scanning system with mainly low-cost sensor technology (RTK-GPS, onboard GPS baseline, low-cost 2D laser scanner, MEMS-IMU, magnetometer).

 

Figure5

Accuracy analysis for kinematic multi sensor systems by comparing kinematic point clouds with reference point clouds of a terrestrial laser scanner. This picture shows the results for a high-end mobile laser scanning system with Z+F Profiler 9012 A and a navigation-grade inertial navigation system iMAR iNAV-FJI-LSURV.

Evaluation of the estimated trajectory

 

Figure6

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Figure8

 

Development of a rail-bound reference trajectory for the evaluation of kinematic multi sensor systems. In combination with evaluation objects in the proximity of the reference trajectory an evaluation of the kinematic object acquisition is also possible.

Contacts 

Publications

  • Heinz, E.; Eling, C.; Wieland, M.; Klingbeil, L.; Kuhlmann, H. (2017) Analysis of Different Reference Plane Setups for the Calibration of a Mobile Laser Scanning System, In: Lienhart, W. (Hrsg.): Ingenieurvermessung 17, Beiträge zum 18. Internationalen Ingenieurvermessungskurs, Graz, Österreich, pp. 131-145, Wichmann Verlag, Berlin, Offenbach.
  • Klingbeil, L.; Eling, C.; Heinz, E.; Wieland, M. & Kuhlmann, H. (2017): Direct Georeferencing for Portable Mapping Systems: In the Air and on the Ground. Journal of Surveying Engineering, American Society of Civil Engineers (ASCE), 2017, 143, 04017010, doi10.1061/(ASCE)SU.1943-5428.0000229.
  • Heinz, E.; Eling, C.; Wieland, M.; Klingbeil, L.; Kuhlmann, H. (2016) Development of a Portable Mobile Laser Scanning System with Special Focus on the System Calibration and Evaluation, 5th International Conference on Machine Control & Guidance (MCG), pp. 1-8, October 5-6, 2016, Vichy, France. 
  • Eling, C.; Klingbeil L.; Wieland, M.; Heinz, E.; Kuhlmann, H. (2015) UAV Real-time - Data Use in a Lightweight Direct Georeferencing System. GPS World, November Issue, pp. 44-49. 
  • Heinz, E.; Eling, C.; Wieland, M.; Klingbeil, L.; Kuhlmann, H. (2015) Development, Calibration and Evaluation of a Portable and Direct Georeferenced Laser Scanning System for Kinematic 3D Mapping, Journal of Applied Geodesy, 9 (4), pp. 227-243.
  • Klingbeil, L., Eling, C., Heinz, E., Wieland, M., Kuhlmann, H. (2015) Direct Georeferencing for Portable Mapping Systems – In the Air and on the Ground, Proceedings of the 9th International Symposium on Mobile Mapping Technology (MMT 2015), Sydney, Australia, December 9-11, 2015.


 

 

 
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