Kollaborative Navigation: Robuster gegen Ausreißer?

Nowadays, the judgement of the quality of results (including integrity) for dynamic sensor networks is an important issue. This is of great importance when the results are used, e.g., in the context of (relative) positioning of autonomous cars. A typical example is the uncertainty of the mapped environment (point cloud) from a multi-sensor system (MSS) which is not homogeneous and depends on many different influencing factors.

Within this project a new methodology for the validation and quality assurance for collaborative interacting MSS shall be developed. Especially the gain by the collaboration for the uncertainty and integrity shall be judged. The starting point of this process is a reference product (e.g. 3D mapping information) and trajectory, which is compared with the results of the collaborative systems (backward modelling). The quality parameters of the interacting MSS are then obtained by an inverse global optimization. This includes the sensor properties, the trajectory and other relevant parameters. The obtained results can be later used for the forward quality modelling of the collaborative MSS.

The algorithms developed for the filtering of the trajectory from Sun et al. (2018) provides a basic input and the relevant quality parameters are numerically determined by the newly developed inverse method.

Publications

Stenz, U.; Hartmann, J.; Paffenholz, J.-A.; Neumann, I. (2017): A Framework Based on Reference Data with Superordinate Accuracy for the Quality Analysis of Terrestrial Laser Scanning-Based Multi-Sensor-Systems, Sensors 2017, 17(8), 1886. DOI: 10.3390/s17081886.

Sun, L.; Alkhatib, H., Paffenholz, J.-A.; Neumann, I. (2018): Geo-Referencing of a Multi-Sensor System Based on Set-membership Kalman Filter. In: 21st International Conference on Information Fusion (FUSION) 2018, Cambridge, United Kingdom, July 10-13, 2018, p. 889 - 896. DOI: 10.23919/ICIF.2018.8455763, ISBN: 978-0-9964527-6-2.

Sun, L.; Alkhatib, H.; Kargoll, B.; Kreinovich, V.; Neumann, I. (2018): A new Kalman filter model for nonlinear systems based on ellipsoidal bounding. Submitted to Journal of Optimization and Theory and Applications.
arXiv: 1802.0297

M. Sc. Lucy Icking
Adresse
Institut für Erdmessung
Schneiderberg 50
30167 Hannover
Gebäude
Raum
M. Sc. Lucy Icking
Adresse
Institut für Erdmessung
Schneiderberg 50
30167 Hannover
Gebäude
Raum

PROJEKTBETREUER

Prof. Dr.-Ing. Steffen Schön
Adresse
Institut für Erdmessung
Schneiderberg 50
30167 Hannover
Gebäude
Raum
Prof. Dr.-Ing. Steffen Schön
Adresse
Institut für Erdmessung
Schneiderberg 50
30167 Hannover
Gebäude
Raum