UGV-UAV LiDAR Referencing With Marker-Based 3D Survey Alignment
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Current 3D surveying systems using autonomous robotic vehicles face challenges in efficiently combining data from different sources, particularly between unmanned ground vehicles (UGVs) and unmanned aerial vehicles (UAVs), due to differences in sensor types, point densities, and field-of-views, which limits real-time data fusion and increases computational complexity.
Innovation Solution
The system employs two lidar devices, one mounted on a UGV and another on a UAV, which are configured to provide coordinative scans of the environment. A reference unit with spatially fixed markers allows for automatic detection and measurement, enabling the referencing of UGV and UAV lidar data within a common coordinate system.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If UGV and UAV lidar data are combined to provide comprehensive 3D surveying coverage, then the applicability and robustness of mobile 3D surveying is improved, but the computational complexity increases due to differences in sensor types, point densities, and field-of-views
Solution Approach 1:
The patent introduces a reference unit with markers as an intermediary element that both UGV and UAV can detect. This reference unit serves as a common mediator that bridges the two different sensor systems, enabling automatic coordinate system alignment and data fusion without requiring complex computational matching algorithms. The markers provide a standardized interface that simplifies the integration of heterogeneous lidar data.
Solution Approach 2:
The patent transforms the coordinate systems of UGV and UAV lidar data into a common reference frame through parameter transformations. By using the reference unit markers as anchor points, the system changes the spatial parameters (position, orientation) of both vehicle coordinate systems to align with a unified coordinate system, thereby reducing computational complexity while maintaining data accuracy.
2Productivity
If automatic detection and measurement of reference markers is implemented, then real-time data fusion is enabled, but the device complexity increases due to additional reference unit components
Solution Approach 1:
The reference unit with markers enables the system to perform self-alignment and self-calibration. Both UGV and UAV automatically detect the markers and compute their own transformation parameters without external intervention. This self-service mechanism achieves real-time data fusion while keeping the reference unit structure relatively simple and standardized.
3Area of stationary object
If coordinative scans are performed by both UGV and UAV lidar devices, then comprehensive environmental coverage is achieved, but the measurement time increases due to the need for precise referencing
Solution Approach 1:
The reference unit is pre-deployed in the survey area before data acquisition begins. This preliminary action establishes the coordinate transformation framework in advance, allowing UGV and UAV to immediately perform coordinative scans without time-consuming real-time calibration. The pre-positioned markers enable rapid data fusion while maintaining comprehensive environmental coverage.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This approach enhances the applicability and robustness of mobile 3D surveying, particularly in varying and extensive terrains, by facilitating real-time data fusion and reducing computational complexity, thereby improving the accuracy and efficiency of data acquisition.
Implementation Method 1
3D surveying often involves optically scanning and measuring an environment by means of a laser scanner, which emits a laser measurement beam, e.g. using pulsed electromagnetic radiation. By receiving an echo from a backscattering surface point of the environment a distance to the surface point is derived
Implementation Method 2
For example, the distance measurement may be based on the time of flight, the shape, and/or the phase of the pulse
Data Source
AI summary
A system for 3D surveying of an environment by an unmanned ground vehicle (UGV) and an unmanned aerial vehicle (UAV) has two lidar devices. A reference unit has a first and a second marker in a spatially fixed arrangement. An automatic detection of the first marker is carried out for a coordinative measurement by the first lidar device to determine relative position data for providing relative position information of the first marker with respect to the first lidar device. The relative position data and spatial 3D information is used for an automatic detection and a coordinative measurement of the second marker by the second lidar device. The coordinative measurements are used for a referencing of lidar data of the UGV lidar device and lidar data of the UAV lidar device with respect to a common coordinate system.