HR: 09:25h
AN: G31A-06    [Abstracts]
TI: Optical Navigation System for Mobile Terrestrial LiDAR System
AU: * Hefford, S W
EM: shefford@connect.carleton.ca
AF: Carleton University Dept. of Earth Sciences, 1125 Colonel By Drive, Ottawa, ON K1S 5B6, Canada
AU: Samson, C
EM: csamson@earthsci.carleton.ca
AF: Carleton University Dept. of Earth Sciences, 1125 Colonel By Drive, Ottawa, ON K1S 5B6, Canada
AU: Iles, P J
EM: pjwiles@neptec.com
AF: Neptec Design Group, Ltd., 302 Legget Drive, Ottawa, ON K2K 1Y5, Canada
AU: Harrison, J W
EM: jharr@cim.mcgill.ca
AF: McGill University Centre for Intelligent Machines, McConnell Engineering Building, Room 410 3480 University Street, Montreal, QC H3A 2A7, Canada
AU: Ferrie, F F
EM: ferrie@cim.mcgill.ca
AF: McGill University Centre for Intelligent Machines, McConnell Engineering Building, Room 410 3480 University Street, Montreal, QC H3A 2A7, Canada
AU: Kusevic, K p
EM: kresimir.kusevic@terrapoint.com
AF: Terrapoint Canada (a division of Ambercore), 1 Antares Drive, Suite 140, Ottawa, ON K2E 8C4, Canada
AU: Mrstik, P
EM: paul.mrstik@terrapoint.com
AF: Terrapoint Canada (a division of Ambercore), 1 Antares Drive, Suite 140, Ottawa, ON K2E 8C4, Canada
AB: TITAN is a mobile terrestrial LiDAR system operated by Terrapoint Canada Inc. of Ottawa, Ontario. This system consists of four LiDAR scanners for complete 360 degree coverage: two forward-facing LiDARs that scan objects on either side of the vehicle; and two rear-facing LiDARs that scan objects above and below the vehicle. The LiDAR scanners operate continuously as the vehicle moves through target areas. Continuous scanning provides regions of overlap in which objects are scanned twice: first by the forward-facing LiDARs, then by the rear-facing LiDARs. The primary method to acquire positional information for TITAN is GPS. However, relying mainly on GPS limits the performance of the system in locations where GPS signal is unavailable or intermittent (i.e. underground and in urban canyons). In such areas, the use of a supplemental Inertial Navigation System (INS) reduces the error associated with GPS signal loss, however, the positional accuracy of the INS degrades exponentially when GPS is not available. This research project explores the possibility of complementing the current position sensors with an Optical Navigation System (ONS). In this approach, additional positional information is extracted directly from point cloud data acquired by the mobile terrestrial LiDAR system. The method uses both geometry and intensity features, and involves the following steps: (1) tessellating the overlapping LiDAR point clouds into smaller segments; (2) quantitatively assessing each pair of overlapping point clouds with respect to intensity and geometric variation to select good candidates for alignment; (3) aligning the overlapping point clouds; (4) using the offsets produced by the alignment to determine the positional correction to be applied to the vehicle's trajectory. A successful positional correction technique, that is independent from external signals such as GPS greatly increases the versatility of mobile terrestrial LiDAR systems and has applications for a variety of other survey systems.
DE: 1207 Transient deformation (6924, 7230, 7240)
DE: 1209 Tectonic deformation (6924)
DE: 1211 Non-tectonic deformation
DE: 1294 Instruments and techniques
DE: 8094 Instruments and techniques
SC: Geodesy [G]
MN: 2009 Joint Assembly