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Affinement de relevés laser mobiles issus de LIDARs multi-couches

Abstract : LIDAR based Mobile Mapping Systems allowto get 3D maps of the environment, which are globally referenced with the help of others sensors embedded on the vehicle: GPS,Inertial Measurement Unit, or odometer are such sensors which allow localizing the vehicle during the acquisition process. However, these maps lack of precision, and are finement of the maps is necessary for manywork where a good precision is needed on the 3D maps, like classification applications for example.When creating the globally referenced 3D maps, the data are firstly acquired by the LIDAR sensor and referenced in the Cartesian reference frame of the sensor withan intrinsic calibration of the sensor. Then, anextrinsic calibration gives the transformation between the sensor and the vehicle, and gives data referenced in the « body »reference frame, linked to the vehicle. Finally, with the fusion of the data coming from the GPS, the Inertial Measurement Unit and theodometer, the laser data can be globally referenced.In this thesis, we propose to refine the point clouds coming from acquisitions done with a mobile mapping system, by optimizing some parameters which are used in the georeferencing process of the data. Firstly, we were interested in the refinement of point clouds by optimizing the extrinsic calibration parameters, and then we were interested in the refinement of point clouds by optimizing the intrinsic calibration parameters; finally by optimizing the translation parameters of the mobile vehicle trajectory.
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Submitted on : Friday, February 2, 2018 - 10:45:13 AM
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  • HAL Id : tel-01699239, version 1


Houssem Nouira. Affinement de relevés laser mobiles issus de LIDARs multi-couches. Automatique / Robotique. Université Paris sciences et lettres, 2017. Français. ⟨NNT : 2017PSLEM015⟩. ⟨tel-01699239⟩



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