Multisensor Selfreferencing 3D-Mapping System (MSM)
In September 2015 the new innovative research project "MSM" at the University of Karlsruhe (HSKA) and the University of Applied Sciences Stuttgart (HFT) was launched.
The scientific and technical overall objective of MSM is to integrate the NAVKA concept of free-designable multisensor platforms and mapping sensors, in particular laser scanners. With this multisensor and mapping system the surrounding area of the navigating system can be captured in 3D, indoor and outdoor and simultaneously the navigation solution can be improved, so indoor navigation in an unknown environment can be possible.
Sub-goals for this self-referencing mapping system are seamless outdoor / indoor navigation, the integration of plenoptic (light field) cameras as an alternative to stereo recordings for visual odometry, the development of a laser scan based SLAM component and its fusion with GNSS / MEMS / MOEMS data for a highly accurate (drift-free) navigation.
The new mapping system should have the following technical and algorithmic features:
- Fusion of GNSS / MEMS and MOEMS sensor data
- Self-referencing with laser scanners: the development of a navigation supporting SLAM modeling
- Expansion of the navigation solution by integrating the SLAM component in NAVKA algorithms (Forward Filtering) for the real-time georeferencing of the laser scanner point cloud
- Post-processing 3D point clouds determination involving all laser points (Backward Smoothing of the navigation state vector obtained by Forward Filtering)
- Construction and testing of the 3D mapping platform with a NAVKArine G1MC (Download Data Specification) and laser scanners
- Evaluation of the overall MSM system
The RaD Project Multisensor Selfreferencing 3D-Mapping System (MSM) is funded within the program "Innovative Projects" of the Ministry Science and Art (MWK) Baden-Württemberg as a joint project for more than 2 years from B.W. state funds.
Project Summary:
Project Start: 01. Sept. 2015
Project Leading HSKA: Prof. Dr.-Ing. Reiner Jäger
Project Leading HfT Stuttgart: Prof. Dr.-Ing. Michael Hahn
