Embed Size (px)
DESCRIPTION
Realization of a 3D continuous geolocalisation demonstrator. Person moving in a mixed outdoorlindoor environment where map data is at first not available. The first challenge is to generate (automatically or semi-automatically) a 3D virtual environment as quickly as possible. The second task is to continuously follow in real-time the person moving freely in that environment with a precision outdoor
Citation preview
Continuous 3D GeopositioningPage
Continuous 3D Positioning Demonstrator
Dr. Quentin Ladetto Program manager [email protected]
Continuous 3D GeopositioningPage
Person moving in a mixed outdoor/indoor environment where map data is at first not available. The first challenge is to generate (automatically or semi-automatically) a 3D virtual environment as quickly as possible. The second task is to continuously follow in real-time the person moving freely in that environment with a precision outdoor <15 meter (GPS precision) and indoor with the following requirements: the floor must be correct, the room must be correct, the situation (close to the windows, door, etc) within the room must be correct. The third task is the monitoring (image, parameters, etc.) of what is happening in the defined environment (indoor & outdoor) in order to support the mission and the appropriate decisions. Permanent (infrastructure, etc) and temporary aspects (position of people, etc) are followed in parallel indoor and outdoor.
Contractual performance
Continuous 3D GeopositioningPage Source: Paul Olson 2012 - US ARMY CERDEC Dismounted Solder Navigation – Update
I had a dream…
Continuous 3D GeopositioningPage
Coupled sensors or integrated system ?
Source: Paul Olson 2012 - US ARMY CERDEC Dismounted Solder Navigation – Update
Continuous 3D GeopositioningPage
Pedestrian Navigation - Focus on Vision (the sensor shift)
Inertial Navigation
Vision Based Navigation(performed by human)
Inertial Navigation
Vision Based Navigation(performed by machine)
GPS
GPS+
INS
GPS+
INS+
Radio
GPS+
INS+
Radio+
Camera(s)
Sensors present in various systems for continuous indoor-outdoor pedestrian navigation
Number and type of sensors present in mass market products, especially mobile phones
Continuous 3D GeopositioningPage
• 3D Laser Scan• Radio Controlled
Provides
• High Precision Real-Time 3D Point Cloud
Technology
Continuous 3D GeopositioningPage
• IMU + Vision Based System
Provides
• Position of the soldier• Real-Time 3D sketching of the area
SLAM (Simultaneous Location And Mapping)• Video
Technology
Continuous 3D GeopositioningPage
• HCP – Heterogeneous Communication Platform• Router + Server + Terminal
Provides
• Peer-to-peer connectivity• Data Synchronization and Redundancy
Technology
Continuous 3D GeopositioningPage
• Active RFID
Provides
• Friend-Foe Identification• Position of the soldier
Technology
Continuous 3D GeopositioningPage
• OpenWebGlobe SDK • WebGL
Provides
• Multiple views of the Real-Time situation• 3D Real-Time Points Cloud display• Network status• Web Interface (Standard + iPad)
Technology
Continuous 3D GeopositioningPage
Demonstrator
+
+
+ +
+ +
+
Point cloud+
Network status
RFID Position
Point cloud+
Network status+
SLAM Positions
Network status+
RFID PositionsReal-Time
VideoVideo Display Virtual Globe Display
Positions and point clouds are shared between all actors
+ +
Soldier1
Soldier2
Continuous 3D GeopositioningPage
Vision 2013 + …
Wallenstadt reloaded…
Continuous 3D GeopositioningPage
Thank you for your attention!Do you have any question?
Dr. Quentin Ladetto [email protected]
Source: ETHZ – Autonomous Systems Lab, Janosch Nikolic
Program manager
