Details
| Original language | English |
|---|---|
| Title of host publication | Intelligent Autonomous Systems |
| Subtitle of host publication | Proceedings of the 13th International Conference IAS, 2014 |
| Editors | Hiroaki Yamaguchi, Nathan Michael, Karsten Berns, Emanuele Menegatti |
| Pages | 473-485 |
| Number of pages | 13 |
| ISBN (electronic) | 978-3-319-08338-4 |
| Publication status | Published - 2016 |
Publication series
| Name | Advances in Intelligent Systems and Computing |
|---|---|
| Volume | 302 |
| ISSN (Print) | 2194-5357 |
Abstract
A lot of research work deals with the building of 3D environment models, e.g. by lidar-based 6D SLAM on ground vehicles. Because these single vehicle approaches always are afflicted by partial occlusion of the environment, we propose to fuse point cloud data taken by ground and aerial vehicles. Therefore, we use manually steered ground and aerial vehicles equipped with localization sensors and laser scanners to record point cloud data. The point cloud data is fused predominantly by existing state-of-the-art algorithms and data formats in ROS. Finally, Octomaps are calculated as common environment models. Two real world experiments in structured and unstructured outdoor environments are presented. The resulting point clouds and maps are evaluated qualitatively and quantitatively.
Keywords
- 3D lidar point clouds, 6DoF SLAM, Octomaps, Sensor data fusion, Unmanned aerial vehicles
ASJC Scopus subject areas
- Engineering(all)
- Control and Systems Engineering
- Computer Science(all)
- General Computer Science
Cite this
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Intelligent Autonomous Systems: Proceedings of the 13th International Conference IAS, 2014. ed. / Hiroaki Yamaguchi; Nathan Michael; Karsten Berns; Emanuele Menegatti. 2016. p. 473-485 (Advances in Intelligent Systems and Computing; Vol. 302).
Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review
}
TY - GEN
T1 - Construction of 3D Environment Models by Fusing Ground and Aerial Lidar Point Cloud Data
AU - Langerwisch, Marco
AU - Krämer, Marc Steven
AU - Kuhnert, Klaus-Dieter
AU - Wagner, Bernardo
N1 - Funding Information: This work has been supported by the Federal Office of Bundeswehr Equipment, Information Technology and In-Service Support (BAAINBw).
PY - 2016
Y1 - 2016
N2 - A lot of research work deals with the building of 3D environment models, e.g. by lidar-based 6D SLAM on ground vehicles. Because these single vehicle approaches always are afflicted by partial occlusion of the environment, we propose to fuse point cloud data taken by ground and aerial vehicles. Therefore, we use manually steered ground and aerial vehicles equipped with localization sensors and laser scanners to record point cloud data. The point cloud data is fused predominantly by existing state-of-the-art algorithms and data formats in ROS. Finally, Octomaps are calculated as common environment models. Two real world experiments in structured and unstructured outdoor environments are presented. The resulting point clouds and maps are evaluated qualitatively and quantitatively.
AB - A lot of research work deals with the building of 3D environment models, e.g. by lidar-based 6D SLAM on ground vehicles. Because these single vehicle approaches always are afflicted by partial occlusion of the environment, we propose to fuse point cloud data taken by ground and aerial vehicles. Therefore, we use manually steered ground and aerial vehicles equipped with localization sensors and laser scanners to record point cloud data. The point cloud data is fused predominantly by existing state-of-the-art algorithms and data formats in ROS. Finally, Octomaps are calculated as common environment models. Two real world experiments in structured and unstructured outdoor environments are presented. The resulting point clouds and maps are evaluated qualitatively and quantitatively.
KW - 3D lidar point clouds
KW - 6DoF SLAM
KW - Octomaps
KW - Sensor data fusion
KW - Unmanned aerial vehicles
UR - http://www.scopus.com/inward/record.url?scp=84945940204&partnerID=8YFLogxK
U2 - 10.1007/978-3-319-08338-4_35
DO - 10.1007/978-3-319-08338-4_35
M3 - Conference contribution
SN - 9783319083377
T3 - Advances in Intelligent Systems and Computing
SP - 473
EP - 485
BT - Intelligent Autonomous Systems
A2 - Yamaguchi, Hiroaki
A2 - Michael, Nathan
A2 - Berns, Karsten
A2 - Menegatti, Emanuele
ER -