4,449 research outputs found
Benchmarking Particle Filter Algorithms for Efficient Velodyne-Based Vehicle Localization
Keeping a vehicle well-localized within a prebuilt-map is at the core of any autonomous vehicle navigation system. In this work, we show that both standard SIR sampling and rejection-based optimal sampling are suitable for efficient (10 to 20 ms) real-time pose tracking without feature detection that is using raw point clouds from a 3D LiDAR. Motivated by the large amount of information captured by these sensors, we perform a systematic statistical analysis of how many points are actually required to reach an optimal ratio between efficiency and positioning accuracy. Furthermore, initialization from adverse conditions, e.g., poor GPS signal in urban canyons, we also identify the optimal particle filter settings required to ensure convergence. Our findings include that a decimation factor between 100 and 200 on incoming point clouds provides a large savings in computational cost with a negligible loss in localization accuracy for a VLP-16 scanner. Furthermore, an initial density of ∼2 particles/m 2 is required to achieve 100% convergence success for large-scale (∼100,000 m 2 ), outdoor global localization without any additional hint from GPS or magnetic field sensors. All implementations have been released as open-source software
Automated 3D model generation for urban environments [online]
Abstract
In this thesis, we present a fast approach to automated
generation of textured 3D city models with both high details at
ground level and complete coverage for birds-eye view.
A ground-based facade model is acquired by driving a vehicle
equipped with two 2D laser scanners and a digital camera under
normal traffic conditions on public roads. One scanner is
mounted horizontally and is used to determine the approximate
component of relative motion along the movement of the
acquisition vehicle via scan matching; the obtained relative
motion estimates are concatenated to form an initial path.
Assuming that features such as buildings are visible from both
ground-based and airborne view, this initial path is globally
corrected by Monte-Carlo Localization techniques using an aerial
photograph or a Digital Surface Model as a global map. The
second scanner is mounted vertically and is used to capture the
3D shape of the building facades. Applying a series of automated
processing steps, a texture-mapped 3D facade model is
reconstructed from the vertical laser scans and the camera
images. In order to obtain an airborne model containing the roof
and terrain shape complementary to the facade model, a Digital
Surface Model is created from airborne laser scans, then
triangulated, and finally texturemapped with aerial imagery.
Finally, the facade model and the airborne model are fused
to one single model usable for both walk- and fly-thrus. The
developed algorithms are evaluated on a large data set acquired
in downtown Berkeley, and the results are shown and discussed
EXTENDING A MOBILE DEVICE WITH LOW-COST 3D MODELING AND BUILDING-SCALE MAPPING CAPABILITIES, FOR APPLICATION IN ARCHITECTURE AND ARCHAEOLOGY
One of the most challenging problem in architecture is the automated construction of 3D (and 4D) digital models of cultural objects with the aim of implementing open data repositories, scientifically authenticated and responding to well accepted standards of validation, evaluation, preservation, publication, updating and dissemination. The realization of such an ambitious objective requires the adoption of special technological instruments. In this paper we plan to use portable devices (i.e. smartphones, tablets or PDAs eventually extended to wearable ones), extended with a small plug-in, for automatically extracting 3D models of single objects and building-scale mapping of the surrounding environment. At the same time, the device will provide the capability of inserting notes and observations. Where the instrument cannot be directly applied, for example for exploring the top of a complex building, we consider mounting our device, or using equivalent existing equipment, on a drone, in a modular approach for obtaining data de-facto interchangeable. The approach based on the expansion packs has the advantage of anticipating (or even promoting) future extensions of new mobile devices, when the spectrum of possible applications justify the corresponding increased costs. In order to experiment and verify this approach we plan to test it in two specific scenarios of the cultural heritage domain in which such devices seem particularly promising: Strada Nuova in Genoa and Palazzo Ducale in Urbino, both located in Italy
Terahertz Communications and Sensing for 6G and Beyond: A Comprehensive View
The next-generation wireless technologies, commonly referred to as the sixth
generation (6G), are envisioned to support extreme communications capacity and
in particular disruption in the network sensing capabilities. The terahertz
(THz) band is one potential enabler for those due to the enormous unused
frequency bands and the high spatial resolution enabled by both short
wavelengths and bandwidths. Different from earlier surveys, this paper presents
a comprehensive treatment and technology survey on THz communications and
sensing in terms of the advantages, applications, propagation characterization,
channel modeling, measurement campaigns, antennas, transceiver devices,
beamforming, networking, the integration of communications and sensing, and
experimental testbeds. Starting from the motivation and use cases, we survey
the development and historical perspective of THz communications and sensing
with the anticipated 6G requirements. We explore the radio propagation, channel
modeling, and measurements for THz band. The transceiver requirements,
architectures, technological challenges, and approaches together with means to
compensate for the high propagation losses by appropriate antenna and
beamforming solutions. We survey also several system technologies required by
or beneficial for THz systems. The synergistic design of sensing and
communications is explored with depth. Practical trials, demonstrations, and
experiments are also summarized. The paper gives a holistic view of the current
state of the art and highlights the issues and challenges that are open for
further research towards 6G.Comment: 55 pages, 10 figures, 8 tables, submitted to IEEE Communications
Surveys & Tutorial
Extending a mobile device with low-cost 3D modeling and building-scale mapping capabilities, for application in architecture and archaeology
One of the most challenging problem in architecture is the automated construction of 3D (and 4D) digital models of cultural objects with the aim of implementing open data repositories, scientifically authenticated and responding to well accepted standards of validation, evaluation, preservation, publication, updating and dissemination. The realization of such an ambitious objective requires the adoption of special technological instruments. In this paper we plan to use portable devices (i.e. smartphones, tablets or PDAs eventually extended to wearable ones), extended with a small plug-in, for automatically extracting 3D models of single objects and building-scale mapping of the surrounding environment. At the same time, the device will provide the capability of inserting notes and observations. Where the instrument cannot be directly applied, for example for exploring the top of a complex building, we consider mounting our device, or using equivalent existing equipment, on a drone, in a modular approach for obtaining data de-facto interchangeable. The approach based on the expansion packs has the advantage of anticipating (or even promoting) future extensions of new mobile devices, when the spectrum of possible applications justify the corresponding increased costs. In order to experiment and verify this approach we plan to test it in two specific scenarios of the cultural heritage domain in which such devices seem particularly promising: Strada Nuova in Genoa and Palazzo Ducale in Urbino, both located in Italy
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