GPS precision time stamping for the HDL-64E lidar sensor and data fusion

Angel Iv́an Garćia-Moreno, Jośe Joel Gonzalez-Barbosa

Research output: Contribution to conferencePaper

3 Citations (Scopus)

Abstract

3D reconstruction of large scale areas was created by merging real world information from different sensors, this is an important issue in multimedia research. In this paper, we propose an efficient construction of urban scenes from LIDAR data. The system is composed of a Velodyne LIDAR 64E and a differential GPS. The sensors are synchronized through their internal clocks, and the position of the LIDAR acquisition is given by the GPS data. In this work, we computed the position using plane geodetic UTM (Universal Transverse Mercator) coordinates by Cotticchia-Surace algorithm which allows us to obtain centimeter accuracy. The translation vector between acquisitions is computed using the GPS position, and the rotation matrix is computed using the planes extracted from the environment. The results show a 3D reconstruction of large scale city. © 2012 IEEE.
Original languageAmerican English
Pages48-53
Number of pages42
DOIs
StatePublished - 1 Dec 2012
EventProceedings - 2012 9th Electronics, Robotics and Automotive Mechanics Conference, CERMA 2012 -
Duration: 1 Dec 2012 → …

Conference

ConferenceProceedings - 2012 9th Electronics, Robotics and Automotive Mechanics Conference, CERMA 2012
Period1/12/12 → …

Fingerprint

Stamping
Data fusion
Optical radar
Global positioning system
Sensors
Merging
Clocks

Cite this

Garćia-Moreno, A. I., & Gonzalez-Barbosa, J. J. (2012). GPS precision time stamping for the HDL-64E lidar sensor and data fusion. 48-53. Paper presented at Proceedings - 2012 9th Electronics, Robotics and Automotive Mechanics Conference, CERMA 2012, . https://doi.org/10.1109/CERMA.2012.16
Garćia-Moreno, Angel Iv́an ; Gonzalez-Barbosa, Jośe Joel. / GPS precision time stamping for the HDL-64E lidar sensor and data fusion. Paper presented at Proceedings - 2012 9th Electronics, Robotics and Automotive Mechanics Conference, CERMA 2012, .42 p.
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Garćia-Moreno, AI & Gonzalez-Barbosa, JJ 2012, 'GPS precision time stamping for the HDL-64E lidar sensor and data fusion', Paper presented at Proceedings - 2012 9th Electronics, Robotics and Automotive Mechanics Conference, CERMA 2012, 1/12/12 pp. 48-53. https://doi.org/10.1109/CERMA.2012.16

GPS precision time stamping for the HDL-64E lidar sensor and data fusion. / Garćia-Moreno, Angel Iv́an; Gonzalez-Barbosa, Jośe Joel.

2012. 48-53 Paper presented at Proceedings - 2012 9th Electronics, Robotics and Automotive Mechanics Conference, CERMA 2012, .

Research output: Contribution to conferencePaper

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Garćia-Moreno AI, Gonzalez-Barbosa JJ. GPS precision time stamping for the HDL-64E lidar sensor and data fusion. 2012. Paper presented at Proceedings - 2012 9th Electronics, Robotics and Automotive Mechanics Conference, CERMA 2012, . https://doi.org/10.1109/CERMA.2012.16