Image-based orientation determination of mobile sensor platforms
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Author (Corporation)
Publication date
2021
Typ of student thesis
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Collections
Type
04B - Conference paper
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Editor (Corporation)
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Parent work
The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences
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DOI of the original publication
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Series
Series number
Volume
XLIII-B1-2021
Issue / Number
Pages / Duration
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Publisher / Publishing institution
International Society of Photogrammetry and Remote Sensing
Place of publication / Event location
Nice
Edition
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Programming language
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Practice partner / Client
Abstract
Abstract. Estimating the pose of a mobile robotic platform is a challenging task, especially when the pose needs to be estimated in a global or local reference frame and when the estimation has to be performed while the platform is moving. While the position of a platform can be measured directly via modern tachymetry or with the help of a global positioning service GNSS, the absolute platform orientation is harder to derive. Most often, only the relative orientation is estimated with the help of a sensor mounted on the robotic platform such as an IMU, with one or multiple cameras, with a laser scanner or with a combination of any of those. Then, a sensor fusion of the relative orientation and the absolute position is performed. In this work, an additional approach is presented: first, an image-based relative pose estimation with frames from a panoramic camera using a state-of-the-art visual odometry implementation is performed. Secondly, the position of the platform in a reference system is estimated using motorized tachymetry. Lastly, the absolute orientation is calculated using a visual marker, which is placed in the space, where the robotic platform is moving. The marker can be detected in the camera frame and since the position of this marker is known in the reference system, the absolute pose can be estimated. To improve the absolute pose estimation, a sensor fusion is conducted. Results with a Lego model train as a mobile platform show, that the trajectory of the absolute pose calculated independently with four different markers have a deviation < 0.66 degrees 50% of the time and that the average difference is < 1.17 degrees. The implementation is based on the popular Robotic Operating System ROS.
Keywords
Orientation estimation, Image-based, Panorama images, Robotics, Mobile sensor platforms
Subject (DDC)
600 - Technik, Medizin, angewandte Wissenschaften
Event
XXIV ISPRS Congress
Exhibition start date
Exhibition end date
Conference start date
05.07.2021
Conference end date
19.07.2021
Date of the last check
ISBN
ISSN
2194-9034
Language
English
Created during FHNW affiliation
Yes
Strategic action fields FHNW
Publication status
Published
Review
Peer review of the complete publication
Open access category
Gold
License
Citation
HASLER, Oliver und Stephan NEBIKER, 2021. Image-based orientation determination of mobile sensor platforms. In: The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences. Nice: International Society of Photogrammetry and Remote Sensing. 2021. Verfügbar unter: https://doi.org/10.26041/fhnw-9478