Collaborative positioning using imaging sensors

In this dissertation project, we investigate how to best combine original sensor data (e.g. grey values), variables derived from them (e.g. image features) and relative poses for integral, collaborative positioning with GNSS and image sensors in dynamic sensor networks in which the nodes recognize each other and exchange information about their state.

The basis of the project are approaches of photogrammetric point determination by means of bundle adjustment, which are to be extended appropriately. The architecture of the overall solution (centralized vs. decentralized) and the basic determinability of a solution including its quality must be considered even under restricted conditions. Using the digital map, it has to be investigated, based on simulations and real data for different scenarios of the "Experimentierstube", e.g. a busy road with GNSS shading, to what extent the collaboration will enable a sufficiently accurate and reliable positioning even in areas where no sufficient GNSS information is available.

Publications

Molina, P.; Blázquez, M.; Cucci, D.A.; Colomina, I. (2017). First Results of a Tandem Terrestrial-Unmanned Aerial mapKITE System with Kinematic Ground Control Points for Corridor Mapping. Remote Sens. 2017, 9, 60.

Yu H., Li H., Yang Z. (2019). Collaborative Visual SLAM Framework for a Multi-UAVs System Based on Mutually Loop Closing, Wireless and Satellite Systems. In: 10th EAI International Conference, WiSATS 2019, Harbin, China, January 12–13, 2019, Proceedings, Part I – LNCS, Springer.

M. Sc. Philipp Trusheim
Address
Institut für Photogrammetrie und GeoInformation
Nienburger Straße 1
30167 Hannover
Building
Room
M. Sc. Philipp Trusheim
Address
Institut für Photogrammetrie und GeoInformation
Nienburger Straße 1
30167 Hannover
Building
Room

PROJECT SUPERVISOR

Prof. Dr. -Ing. habil. Christian Heipke
Address
Institut für Photogrammetrie und GeoInformation
Nienburger Straße 1
30167 Hannover
Building
Room
Prof. Dr. -Ing. habil. Christian Heipke
Address
Institut für Photogrammetrie und GeoInformation
Nienburger Straße 1
30167 Hannover
Building
Room