Browse > Article

The GEO-Localization of a Mobile Mapping System  

Chon, Jae-Choon (EARTHMINE INC)
Publication Information
Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography / v.27, no.5, 2009 , pp. 555-563 More about this Journal
Abstract
When a mobile mapping system or a robot is equipped with only a GPS (Global Positioning System) and multiple stereo camera system, a transformation from a local camera coordinate system to GPS coordinate system is required to link camera poses and 3D data by V-SLAM (Vision based Simultaneous Localization And Mapping) to GIS data or remove the accumulation error of those camera poses. In order to satisfy the requirements, this paper proposed a novel method that calculates a camera rotation in the GPS coordinate system using the three pairs of camera positions by GPS and V-SLAM, respectively. The propose method is composed of four simple steps; 1) calculate a quaternion for two plane's normal vectors based on each three camera positions to be parallel, 2) transfer the three camera positions by V-SLAM with the calculated quaternion 3) calculate an additional quaternion for mapping the second or third point among the transferred positions to a camera position by GPS, and 4) determine a final quaternion by multiplying the two quaternions. The final quaternion can directly transfer from a local camera coordinate system to the GPS coordinate system. Additionally, an update of the 3D data of captured objects based on view angles from the object to cameras is proposed. This paper demonstrated the proposed method through a simulation and an experiment.
Keywords
Coordinate transformation; V-SLAM; GPS; Quaternion;
Citations & Related Records
Times Cited By KSCI : 3  (Citation Analysis)
Times Cited By SCOPUS : 0
연도 인용수 순위
1 전재춘, Sastry, S. (2008), 벡터내적기반 카메라 외부파라메타, 응용: 절대표정, 제어로봇시스템학회지, 제어로봇 시스템학회, 14(1), pp. 70-74
2 Civera, Javier, Oscar G. Grasa, Andrew J. Davison and J. M. M. Montiel (2009), 1-Point RANSAC for EKF-Based Structure from Motion, IROS 2009, CD-ROM
3 Fischler, M.A., Bolles, R.C.(1981), RANSAC random sampling concensus: A paradigm for model fitting with applications to image analysis and automated cartography, Communications of ACM, 26, pp. 381-395
4 Hamilton, William Rowan (1844), On quaternions, or on a new system of imaginaries in algebra, philosophical Magazine, 25(3), pp. 489-495
5 Se, S. Lowe, D.G. Little, J. J. (2005), Vision-based global localization and mapping for mobile robots, IEEE Tr. on Robotics, 21(3), pp. 364-375   DOI   ScienceOn
6 Sinha, Sudipta N, Jan- Michael Frahm, Marc Pollefeys and Yakup Genc(2006), GPU-Based Video Feature Tracking and Matching, EDGE 2006, workshop on Edge Computing Using New Commodity Architectres, Chapel Hill, May 2006
7 Thrun, S., Fox, D., Burgard, W., and Dellaert, F. (2001), Robust Monte-Carlo localization for mobile robots, Artificial Intelligence, 128(1), pp. 99-141   DOI   ScienceOn
8 Lowe, David G. (2004), Distinctive image features from scale-invariant keypoints, International Journal of Computer Vision, 60(2), pp. 91-110   DOI   ScienceOn
9 Chon, J. Fuse, T., Shimizu, E, and Shivasaki, R. (2007), 3D Image Mosaicking Using Multiple Projection Planes, IEEE Tr. onSMC-B, 37(3), pp. 771-783
10 Fruh, C., Jain,S., and Zakhor, A. (2005), Data Processing Algorithms for Generation Textured 3D Building Facade Meshes from Laser Scans and Camera Images, International Journal of Computer Vision, 61(2), pp. 159-184   DOI   ScienceOn
11 Felzenszwalb, P. F., Girshick, R. B., McAllester, D., Ramanan, D., (2009), Object Detection with Discriminatively Trained Part Based Models, To appear in IEEE Trans. on PAMI
12 전재춘, Sastry, S.(2007), 벡터내적 기반 카메라 외부 파라메터 응용: 카메라와 레이져스캐너간의 캘리브레이션, 대한원격탐사학회지, 대한원격탐사학회, 23(6), pp. 553-558   DOI
13 Chon, J Kim, H, and Lin, C., (2009), Seam-line determination for image mosaicking: A technique minimizing the maximum local mismatch and the global cost. ISPRS Journal of Photogrammetry and Remote Sensing, doi:10.1016/J.isprsjprs.2009.09001   DOI
14 Milford, Michael J., Gordon F (2008), Mapping a Suburb With a Single Camera Using a Biologically Inspired SLAM System, IEEE Tr. on Robotics, 24(5), pp. 1038-1053   DOI   ScienceOn
15 전재춘 (2008), 벡터내적 기반 카메라 자세 추정, 대한원격탐사학회지, 대한원격탐사학회, 24(6), pp. 614-644   DOI
16 전재춘, Shibasaki, R. (2008), IMU/GPS와 카메라 좌표계간의 물리적 관계를 위한 수학적 모델, 한국측량학회지, 한국측량학회, 제 26권, 제 6호, pp. 611-616
17 Zhao, H., Shibasaki, R. (2003), A vehicle-borne urban 3-D acquisition system using single-row laser range scanners, IEEE Tr. on SMC-B, 33(4), pp. 658-666   DOI   ScienceOn