Optimizing Sensor Combinations and Processing Parameters in Dynamic Sensor Networks

Garcia-Fernandez, Nicolas; Schön, Steffen

doi:10.33012/2019.16885

Cited by 6 publications

(5 citation statements)

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“…(de Ponte Müller, 2017) investigated the properties of different sensors and their potentials for bridging other sensors and making synergies in collaboration. , Garcia Fernandez, Schön, 2019 developed a simulation framework for collaborative positioning based on an extended Kalman Filter framework. They underline the improvements when adding additional observations from aiding vehicles, hence extending the idea of classical geodetic networks.…”

Section: Role Of Photogrammetry and Image Analysis For Integrity Of Mmentioning

confidence: 99%

“…Images and LIDAR cannot derive absolute positioning by its own, but they can significantly increase the geometric strength of the navigation problem especially in urban environments, cf. the discussion in (Garcia Fernandez, Schön, 2019). Are there sensors that can directly compensate the shortcomings (like RADAR, images and LIDAR concerning the condition of operations, illumination, operation during rain)?…”

Section: Open Questionsmentioning

confidence: 99%

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Integrity – A Topic for Photogrammetry ?

Schön

2020

Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci.

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Abstract. Photogrammetric methods and sensors like LIDAR, RADAR and cameras are becoming more and more important for new applications like highly automatic driving, since they enable capturing relative information of the ego vehicle w.r.t its environment. Integrity measure the trust that we can put in the navigation information of a system. The concept of integrity was first developed for civil aviation and is linked to reliability concepts well known in geodesy and photogrammetry. Currently, the navigation community is discussing how to guarantee integrity for car navigation and multi-sensor systems.In this paper, we will give a short review on integrity concepts and on the current discussion of how to apply it to car navigation. We will discuss which role photogrammetry could play to solve the open issues in the integrity definition and monitoring for multi-sensor systems.

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Section: Role Of Photogrammetry and Image Analysis For Integrity Of Mmentioning

confidence: 99%

Section: Open Questionsmentioning

confidence: 99%

Integrity – A Topic for Photogrammetry ?

Schön

2020

Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci.

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“…In the past 30 years, different algorithms have been developed for monitoring integrity of GPS-based navigation starting from aviation, and step-by-step being transferred and adopted to car navigation [5]. However, many open issues persist [6], and novel concepts for integrity description should be exploited, e.g., in the form of quality measures such as upper bounds on the measurement errors by interval mathematics [7,8], and can be achieved, e.g., by collaboration between multiple sensors [9].…”

Section: Overview Of the Research Project And Its Requirements Concerning Data Managementmentioning

confidence: 99%

Spatio-Temporal Research Data Infrastructure in the Context of Autonomous Driving

Fischer

Sester

Schön

2020

IJGI

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In this paper, we present an implementation of a research data management system that features structured data storage for spatio-temporal experimental data (environmental perception and navigation in the framework of autonomous driving), including metadata management and interfaces for visualization and parallel processing. The demands of the research environment, the design of the system, the organization of the data storage, and computational hardware as well as structures and processes related to data collection, preparation, annotation, and storage are described in detail. We provide examples for the handling of datasets, explaining the required data preparation steps for data storage as well as benefits when using the data in the context of scientific tasks.

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“…In these areas, in particular, additional sensors such as laser scanners or cameras are used to improve the localisation, e.g. (Garcia-Fernandez and Schön, 2019). Although cameras require an external light source, they are lighter and cheaper than laser scanners, making them more flexible in use.…”

Section: Introductionmentioning

confidence: 99%

Cooperative Localisation Using Image Sensors in a Dynamic Traffic Scenario

Trusheim

Chen

Rottensteiner

et al. 2021

Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci.

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Abstract. Localisation is one of the key elements in navigation. Especially due to the development in automated driving, precise and reliable localisation becomes essential. In this paper, we report on different cooperation approaches in visual localisation with two vehicles driving in a convoy formation. Each vehicle is equipped with a multi-sensor platform consisting of front-facing stereo cameras and a global navigation satellite system (GNSS) receiver. In the first approach, the GNSS signals are used as excentric observations for the projection centres of the cameras in a bundle adjustment, whereas the second approach uses markers on the front vehicle as dynamic ground control points (GCPs). As the platforms are moving and data acquisition is not synchronised, we use time dependent platform poses. These time dependent poses are represented by trajectories consisting of multiple 6 Degree of Freedom (DoF) anchor points between which linear interpolation takes place. In order to investigate the developed approach experimentally, in particular the potential of dynamic GCPs, we captured data using two platforms driving on a public road at normal speed. As a baseline, we determine the localisation parameters of one platform using only data of that platform. We then compute a solution based on image and GNSS data from both platforms. In a third scenario, the front platform is used as a dynamic GCP which can be related to the trailing platform by markers observed in the images acquired by the latter. We show that both cooperative approaches lead to significant improvements in the precision of the poses of the anchor points after bundle adjustment compared to the baseline. The improvement achieved due to the inclusion of dynamic GCPs is somewhat smaller than the one due to relating the platforms by tie points. Finally, we show that for an individual vehicle, the use of dynamic GCPs can compensate for the lack of GNSS data.

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Optimizing Sensor Combinations and Processing Parameters in Dynamic Sensor Networks

Cited by 6 publications

References 0 publications

Integrity – A Topic for Photogrammetry ?

Integrity – A Topic for Photogrammetry ?

Spatio-Temporal Research Data Infrastructure in the Context of Autonomous Driving

Cooperative Localisation Using Image Sensors in a Dynamic Traffic Scenario

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