A New Localisation Method Enhancing High Precision GPS ... · A New Localisation Method Enhancing...
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MMI · Institute of Man Machine Interaction · RWTH Aachen · Ahornstraße 55 · 52074 Aachen · www.mmi.rwth-aachen.de A New Localisation Method Enhancing High Precision GPS Sensors with Terrestrial Laserscanner Data Petra Krahwinkler
Transcript of A New Localisation Method Enhancing High Precision GPS ... · A New Localisation Method Enhancing...
MMI · Institute of Man Machine Interaction · RWTH Aachen · Ahornstraße 55 · 52074 Aachen · www.mmi.rwth-aachen.de
A New Localisation Method Enhancing High Precision GPS Sensors with Terrestrial
Laserscanner Data
Petra Krahwinkler
MMI · Institute of Man Machine Interaction · RWTH Aachen · Ahornstraße 55 · 52074 Aachen · www.mmi.rwth-aachen.de
Reference
Sensor 1: Trimble DSM 232
Sensor 2: Javad Lexon-GGD 150T
Sensor 3: SiRFStar 3
Reference Point: 2521705,28 / 5621325,64
How do we recognize the tree – GPS in the forest
MMI · Institute of Man Machine Interaction · RWTH Aachen · Ahornstraße 55 · 52074 Aachen · www.mmi.rwth-aachen.de
„Visual GPS“ enhances the standard GPS localization
MMI · Institute of Man Machine Interaction · RWTH Aachen · Ahornstraße 55 · 52074 Aachen · www.mmi.rwth-aachen.de
The basic idea of „Visual GPS“
MMI · Institute of Man Machine Interaction · RWTH Aachen · Ahornstraße 55 · 52074 Aachen · www.mmi.rwth-aachen.de
Calculate a „more correct“ position by taking a tree group int account!
The basic idea of „Visual GPS“
MMI · Institute of Man Machine Interaction · RWTH Aachen · Ahornstraße 55 · 52074 Aachen · www.mmi.rwth-aachen.de
Virtual Testbed and Simulation
• Simulation of laser scanners in the virtual forest
• Simulation of laser scanners and the particle filter algorithm
• Simulation of the particle filter using logged laser scanner data
• Implementation of the system on the harvester
MMI · Institute of Man Machine Interaction · RWTH Aachen · Ahornstraße 55 · 52074 Aachen · www.mmi.rwth-aachen.de
Laser scanner mounted on a John Deere Harvester
MMI · Institute of Man Machine Interaction · RWTH Aachen · Ahornstraße 55 · 52074 Aachen · www.mmi.rwth-aachen.de
Resulting accuracy: approx. 50cm
Visual GPS allows to localize the harvester
MMI · Institute of Man Machine Interaction · RWTH Aachen · Ahornstraße 55 · 52074 Aachen · www.mmi.rwth-aachen.de
Resulting accuracy: approx. 50cm
Visual GPS allows to localize the harvester
MMI · Institute of Man Machine Interaction · RWTH Aachen · Ahornstraße 55 · 52074 Aachen · www.mmi.rwth-aachen.de
Resulting accuracy: approx. 50cm
Visual GPS allows to localize the harvester
MMI · Institute of Man Machine Interaction · RWTH Aachen · Ahornstraße 55 · 52074 Aachen · www.mmi.rwth-aachen.de
Thank you!The project „Virtual Forest“ is co-financed by the European Union and North-Rhine-Westfalia – European Regional Development Fund (EFRE)
