Self-Localization by Laser Scanner and GPS in Automated Surveys

Our contribution is based on a research aimed to a “quick” resolution of an integrated problem oriented towards the self-localization and perimetration through mobile devices. The adopted methodology is applied on a real case study by using the following surveying tools: a kinematic Global Positioning System (GPS) and a Laser Scanner supporting a “mobile platform”. A GPS receiver provided by Leica Geosystem and a two-dimensional Laser Scanner provided by the Automation and Control Laboratory of the University “Mediteranea” of Reggio Calabria were positioned on an experimental mobile system specifically designed to simulate the behaviour of a future and fully automated platform. The research is aimed to conduct the traditional land surveying through a Laser Scanner alongside with GPS receivers in a three dimensional centimetric resolution within one single system of reference made up of individual scans operated by a “Stop-and-Go” device.

[1]  Hamid D. Taghirad,et al.  SLAM Using Single Laser Range Finder , 2008 .

[2]  Andrea Garulli,et al.  Simultaneous localization and map building using linear features , 2005 .

[3]  George A. Bekey,et al.  AUTONOMOUS ROBOTS, From Biological Inspiration to Implementation and Control, by G.A. Bekey, MIT Press, 2005, xv + 577 pp., index, ISBN 0-262-02578-7, 25 pages of references (Hb. £35.95) , 2005, Robotica.

[4]  Joachim Hertzberg,et al.  High-speed laser localization for mobile robots , 2005, Robotics Auton. Syst..

[5]  Hobart R. Everett,et al.  Mobile Robot Positioning - Sensors and Techniques , 1997 .

[6]  Vincenzo Barrile,et al.  Laser scanner technology for complex surveying structures , 2011 .

[7]  Rong Chen,et al.  A Theoretical Framework for Sequential Importance Sampling with Resampling , 2001, Sequential Monte Carlo Methods in Practice.

[8]  Hamid D. Taghirad,et al.  Feature-Based Laser Scan Matching For Accurate and High Speed Mobile Robot Localization , 2007, EMCR.

[9]  Ewald von Puttkamer,et al.  Keeping track of position and orientation of moving indoor systems by correlation of range-finder scans , 1994, Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94).

[10]  Maria Nadia Postorino,et al.  An Integrated GPS-GIS Surface Movement Ground Control System , 2004 .

[11]  Paolo Pirjanian,et al.  Low-cost visual localization and mapping for consumer robotics , 2003, Ind. Robot.

[12]  Vincenzo Barrile,et al.  Laser scanner surveying techniques aiming to the study and the spreading of recent architectural structures , 2009 .

[13]  Roland Siegwart,et al.  Introduction to Autonomous Mobile Robots , 2004 .

[14]  A. Vicino,et al.  Mobile robot SLAM for line-based environment representation , 2005, Proceedings of the 44th IEEE Conference on Decision and Control.

[15]  Sebastian Thrun,et al.  Robotic mapping: a survey , 2003 .

[16]  Gerhard Lakemeyer,et al.  Exploring artificial intelligence in the new millennium , 2003 .

[17]  Evangelos E. Milios,et al.  Robot Pose Estimation in Unknown Environments by Matching 2D Range Scans , 1997, J. Intell. Robotic Syst..

[18]  Eduardo Mario Nebot,et al.  Localisation in large-scale environments , 2001, Robotics Auton. Syst..

[19]  M. Cacciola,et al.  TEC Measurements Through GPS and Artificial Intelligence , 2006 .