TY - JOUR

T1 - Georeferencing of Laser Scanner-Based Kinematic Multi-Sensor Systems in the Context of Iterated Extended Kalman Filters Using Geometrical Constraints

AU - Vogel, Sören

AU - Alkhatib, Hamza

AU - Bureick, Johannes

AU - Moftizadeh, Rozhin

AU - Neumann, Ingo

N1 - Funding: This work was funded by the German Research Foundation (DFG) as part of the Research Training Group i.c.sens (RTG 2159) and NE 1453/5-1. The computations were performed by the compute cluster, which is funded by the Leibniz Universität Hannover, the Lower Saxony Ministry of Science and Culture (MWK) and DFG.

PY - 2019/5/2

Y1 - 2019/5/2

N2 - Georeferencing is an indispensable necessity regarding operating with kinematic multi-sensor systems (MSS) in various indoor and outdoor areas. Information from object space combined with various types of prior information (e.g., geometrical constraints) are beneficial especially in challenging environments where common solutions for pose estimation (e.g., global navigation satellite system or external tracking by a total station) are inapplicable, unreliable or inaccurate. Consequently, an iterated extended Kalman filter is used and a general georeferencing approach by means of recursive state estimation is introduced. This approach is open to several types of observation inputs and can deal with (non)linear systems and measurement models. The capability of using both explicit and implicit formulations of the relation between states and observations, and the consideration of (non)linear equality and inequality state constraints is a special feature. The framework presented is evaluated by an indoor kinematic MSS based on a terrestrial laser scanner. The focus here is on the impact of several different combinations of applied state constraints and the dependencies of two classes of inertial measurement units (IMU). The results presented are based on real measurement data combined with simulated IMU measurements.

AB - Georeferencing is an indispensable necessity regarding operating with kinematic multi-sensor systems (MSS) in various indoor and outdoor areas. Information from object space combined with various types of prior information (e.g., geometrical constraints) are beneficial especially in challenging environments where common solutions for pose estimation (e.g., global navigation satellite system or external tracking by a total station) are inapplicable, unreliable or inaccurate. Consequently, an iterated extended Kalman filter is used and a general georeferencing approach by means of recursive state estimation is introduced. This approach is open to several types of observation inputs and can deal with (non)linear systems and measurement models. The capability of using both explicit and implicit formulations of the relation between states and observations, and the consideration of (non)linear equality and inequality state constraints is a special feature. The framework presented is evaluated by an indoor kinematic MSS based on a terrestrial laser scanner. The focus here is on the impact of several different combinations of applied state constraints and the dependencies of two classes of inertial measurement units (IMU). The results presented are based on real measurement data combined with simulated IMU measurements.

KW - georeferencing

KW - implicit model

KW - inequality state constraints

KW - iterated extended Kalman filter

KW - kinematic multi-sensor system

KW - probability density function truncation

UR - http://www.scopus.com/inward/record.url?scp=85066428711&partnerID=8YFLogxK

U2 - 10.3390/s19102280

DO - 10.3390/s19102280

M3 - Article

C2 - 31108860

AN - SCOPUS:85066428711

VL - 19

JO - Sensors (Basel, Switzerland)

JF - Sensors (Basel, Switzerland)

SN - 1424-3210

IS - 10

ER -