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Lidar point-to-point correspondences for rigorous registration of kinematic scanning in dynamic networks

Publications associées (33)

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Bundle adjustment with raw inertial observations

Jan Skaloud, Davide Antonio Cucci, Martin Rehak

t is well known that accurate aerial position and attitude control is beneficial for image orientation in airborne photogrammetry. The aerial control is traditionally obtained by Kalman filtering/smoothing inertial and GNSS observations prior to the bundle ...

2017

An Overview of a New Sensor Calibration Platform

Jan Skaloud, Stéphane Guerrier, Philipp Clausen

Inertial sensors have been employed in different types of applications in miniature embedded devices such as phones, watches, and small unmanned aerial vehicles. The stochastic structure of the error signal coming from these sensors is complex and needs to ...

2017

An Approach for Observing and Modeling Errors in MEMS-Based Inertial Sensors Under Vehicle Dynamic

Jan Skaloud, Stéphane Guerrier, Yannick Stebler

This paper studies the error behavior of low-cost inertial sensors in dynamic conditions. After proposing a method for error observations per sensor (i.e., gyroscope or accelerometer) and axes, their properties are estimated via the methodology of generali ...

Institute of Electrical and Electronics Engineers2015

An inertial sensor calibration platform to estimate and select error models

Jan Skaloud, Stéphane Guerrier

A new open-source software platform that, among others, allows to select models for inertial sensor stochastic calibration is presented in this paper. This platform consists in a package included in the statistical software R. The identification of stochas ...

IEEE2015

A Combined Approach Toward Consistent Reconstructions of Indoor Spaces Based on 6D RGB-D Odometry and KinectFusion

Nadia Barbara Figueroa Fernandez

We propose a 6D RGB-D odometry approach that finds the relative camera pose between consecutive RGB-D frames by keypoint extraction and feature matching both on the RGB and depth image planes. Furthermore, we feed the estimated pose to the highly accurate ...

Assoc Computing Machinery2015

This paper presents a novel method to perform the outlier rejection task between two different views of a camera rigidly attached to an Inertial Measurement Unit (IMU). Only two feature correspondences and gyroscopic data from IMU measurerments are used to ...

2014

SVO: Fast Semi-Direct Monocular Visual Odometry

Davide Scaramuzza

We propose a semi-direct monocular visual odometry algorithm that is precise, robust, and faster than current state-of-the-art methods. The semi-direct approach eliminates the need of costly feature extraction and robust matching techniques for motion esti ...

2014

Sparse Iterative Closest Point

Mark Pauly, Sofien Bouaziz, Andrea Tagliasacchi

Rigid registration of two geometric data sets is essential in many applications, including robot navigation, surface reconstruction, and shape matching. Most commonly, variants of the Iterative Closest Point (ICP) algorithm are employed for this task. Thes ...

Wiley-Blackwell2013

We present an algorithm for determining the nature of stochastic processes together with its parameters based on the analysis of time series of inertial errors. The algorithm is suitable mainly (but not only) for situations when several stochastic processe ...

2013

Stochastic Exploration of Ambiguities for Non-Rigid Shape Recovery

Pascal Fua

Recovering the 3D shape of deformable surfaces from single images is known to be a highly ambiguous problem because many different shapes may have very similar projections. This is commonly addressed by restricting the set of possible shapes to linear comb ...

Institute of Electrical and Electronics Engineers2013