A New Localisation Method Enhancing High Precision GPS ... · A New Localisation Method Enhancing High Precision GPS Sensors with Terrestrial Laserscanner Data ... COSIMIR Virtual

MMI · Institute of Man Machine Interaction · RWTH Aachen · Ahornstraße 55 · 52074 Aachen · www.mmi.rwth-aachen.de

A New Localisation Method Enhancing High Precision GPS Sensors with Terrestrial

Laserscanner Data

Petra Krahwinkler


Reference

Sensor 1: Trimble DSM 232

Sensor 2: Javad Lexon-GGD 150T

Sensor 3: SiRFStar 3

Reference Point: 2521705,28 / 5621325,64

How do we recognize the tree – GPS in the forest


„Visual GPS“ enhances the standard GPS localization


The basic idea of „Visual GPS“


Calculate a „more correct“ position by taking a tree group int account!

The basic idea of „Visual GPS“


Virtual Testbed and Simulation

• Simulation of laser scanners in the virtual forest

• Simulation of laser scanners and the particle filter algorithm

• Simulation of the particle filter using logged laser scanner data

• Implementation of the system on the harvester


Laser scanner mounted on a John Deere Harvester


Resulting accuracy: approx. 50cm

Visual GPS allows to localize the harvester








Thank you!The project „Virtual Forest“ is co-financed by the European Union and North-Rhine-Westfalia – European Regional Development Fund (EFRE)

A New Localisation Method Enhancing High Precision GPS ... · A New Localisation Method Enhancing High Precision GPS Sensors with Terrestrial Laserscanner Data ... COSIMIR Virtual

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