> Details

Hofmann, Sabine [Author]; Kuntzsch, C. [Author]; Schulze, Malte Jan [Author]; Eggert, D. [Author]; Sester, Monika [Author]; Shortis, M. [Author]; Shi, J. [Author]; Guilbert, E. [Author]

Accuracy analysis of a low-cost platform for positioning and navigation - [published Version]

Reference
management

Bookmarks

Remove from
bookmarks

Share this on Whatsapp

Close

Bookmarks



You can manage bookmarks using lists, please log in to your user account for this.
  • Media type: Text; E-Article
  • Title: Accuracy analysis of a low-cost platform for positioning and navigation
  • Contributor: Hofmann, Sabine [Author]; Kuntzsch, C. [Author]; Schulze, Malte Jan [Author]; Eggert, D. [Author]; Sester, Monika [Author]; Shortis, M. [Author]; Shi, J. [Author]; Guilbert, E. [Author]
  • Published: Göttingen : Copernicus GmbH, 2012
  • Published in: XXII ISPRS Congress, Technical Commission II ; ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences ; I-2
  • Issue: published Version
  • Language: English
  • DOI: https://doi.org/10.15488/4974; https://doi.org/10.5194/isprsannals-i-2-1-2012
  • ISSN: 2194-9050
  • Keywords: Android (operating system) ; Konferenzschrift ; Computer vision ; GNSS applications ; Remote sensing ; Artificial intelligence ; Lidar ; Total station ; Robotics ; Laser scanning ; Lego Mindstorms NXT ; Computer science ; Ground truth
  • Origination:
  • Footnote: Diese Datenquelle enthält auch Bestandsnachweise, die nicht zu einem Volltext führen.
  • Description: This paper presents an accuracy analysis of a platform based on low-cost components for landmark-based navigation intended for research and teaching purposes. The proposed platform includes a LEGO MINDSTORMS NXT 2.0 kit, an Android-based Smartphone as well as a compact laser scanner Hokuyo URG-04LX. The robot is used in a small indoor environment, where GNSS is not available. Therefore, a landmark map was produced in advance, with the landmark positions provided to the robot. All steps of procedure to set up the platform are shown. The main focus of this paper is the reachable positioning accuracy, which was analyzed in this type of scenario depending on the accuracy of the reference landmarks and the directional and distance measuring accuracy of the laser scanner. Several experiments were carried out, demonstrating the practically achievable positioning accuracy. To evaluate the accuracy, ground truth was acquired using a total station. These results are compared to the theoretically achievable accuracies and the laser scanner’s characteristics.
  • Access State: Open Access
  • Rights information: Attribution (CC BY)