Details
| Original language | English |
|---|---|
| Pages (from-to) | 1-6 |
| Number of pages | 6 |
| Journal | ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences |
| Volume | 1 |
| Publication status | Published - 11 Jul 2012 |
| Event | 22nd Congress of the International Society for Photogrammetry and Remote Sensing, ISPRS 2012 - Melbourne, Australia Duration: 25 Aug 2012 → 1 Sept 2012 |
Abstract
This paper presents an accuracy analysis of a platform based on low-cost components for landmark-based navigation intended for research and teaching purposes. The proposed platform includes a LEGO MINDSTORMS NXT 2.0 kit, an Android-based Smartphone as well as a compact laser scanner Hokuyo URG-04LX. The robot is used in a small indoor environment, where GNSS is not available. Therefore, a landmark map was produced in advance, with the landmark positions provided to the robot. All steps of procedure to set up the platform are shown. The main focus of this paper is the reachable positioning accuracy, which was analyzed in this type of scenario depending on the accuracy of the reference landmarks and the directional and distance measuring accuracy of the laser scanner. Several experiments were carried out, demonstrating the practically achievable positioning accuracy. To evaluate the accuracy, ground truth was acquired using a total station. These results are compared to the theoretically achievable accuracies and the laser scanner's characteristics.
Keywords
- accuracy analysis, close range, feature, LIDAR, mapping, robotics
ASJC Scopus subject areas
- Earth and Planetary Sciences(all)
- Earth and Planetary Sciences (miscellaneous)
- Environmental Science(all)
- Environmental Science (miscellaneous)
- Physics and Astronomy(all)
- Instrumentation
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In: ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences, Vol. 1, 11.07.2012, p. 1-6.
Research output: Contribution to journal › Conference article › Research › peer review
}
TY - JOUR
T1 - ACCURACY ANALYSIS OF A LOW-COST PLATFORM FOR POSITIONING AND NAVIGATION
AU - Hofmann, Sabine
AU - Kuntzsch, Colin
AU - Schulze, Malte Jan
AU - Eggert, Daniel
AU - Sester, Monika
PY - 2012/7/11
Y1 - 2012/7/11
N2 - This paper presents an accuracy analysis of a platform based on low-cost components for landmark-based navigation intended for research and teaching purposes. The proposed platform includes a LEGO MINDSTORMS NXT 2.0 kit, an Android-based Smartphone as well as a compact laser scanner Hokuyo URG-04LX. The robot is used in a small indoor environment, where GNSS is not available. Therefore, a landmark map was produced in advance, with the landmark positions provided to the robot. All steps of procedure to set up the platform are shown. The main focus of this paper is the reachable positioning accuracy, which was analyzed in this type of scenario depending on the accuracy of the reference landmarks and the directional and distance measuring accuracy of the laser scanner. Several experiments were carried out, demonstrating the practically achievable positioning accuracy. To evaluate the accuracy, ground truth was acquired using a total station. These results are compared to the theoretically achievable accuracies and the laser scanner's characteristics.
AB - This paper presents an accuracy analysis of a platform based on low-cost components for landmark-based navigation intended for research and teaching purposes. The proposed platform includes a LEGO MINDSTORMS NXT 2.0 kit, an Android-based Smartphone as well as a compact laser scanner Hokuyo URG-04LX. The robot is used in a small indoor environment, where GNSS is not available. Therefore, a landmark map was produced in advance, with the landmark positions provided to the robot. All steps of procedure to set up the platform are shown. The main focus of this paper is the reachable positioning accuracy, which was analyzed in this type of scenario depending on the accuracy of the reference landmarks and the directional and distance measuring accuracy of the laser scanner. Several experiments were carried out, demonstrating the practically achievable positioning accuracy. To evaluate the accuracy, ground truth was acquired using a total station. These results are compared to the theoretically achievable accuracies and the laser scanner's characteristics.
KW - accuracy analysis
KW - close range
KW - feature
KW - LIDAR
KW - mapping
KW - robotics
UR - http://www.scopus.com/inward/record.url?scp=85048911396&partnerID=8YFLogxK
U2 - 10.5194/isprsannals-I-2-1-2012
DO - 10.5194/isprsannals-I-2-1-2012
M3 - Conference article
AN - SCOPUS:85048911396
VL - 1
SP - 1
EP - 6
JO - ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences
JF - ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences
SN - 2194-9042
T2 - 22nd Congress of the International Society for Photogrammetry and Remote Sensing, ISPRS 2012
Y2 - 25 August 2012 through 1 September 2012
ER -