Volume I-2
ISPRS Ann. Photogramm. Remote Sens. Spatial Inf. Sci., I-2, 1-6, 2012
https://doi.org/10.5194/isprsannals-I-2-1-2012
© Author(s) 2012. This work is distributed under
the Creative Commons Attribution 3.0 License.
ISPRS Ann. Photogramm. Remote Sens. Spatial Inf. Sci., I-2, 1-6, 2012
https://doi.org/10.5194/isprsannals-I-2-1-2012
© Author(s) 2012. This work is distributed under
the Creative Commons Attribution 3.0 License.

  11 Jul 2012

11 Jul 2012

ACCURACY ANALYSIS OF A LOW-COST PLATFORM FOR POSITIONING AND NAVIGATION

S. Hofmann, C. Kuntzsch, M. J. Schulze, D. Eggert, and M. Sester S. Hofmann et al.
  • Institut für Kartographie und Geoinformatik, Leibniz Universität Hannover, Appelstr. 9A, 30167 Hannover, Germany

Keywords: LIDAR, robotics, accuracy analysis, close range, mapping, feature

Abstract. This paper presents an accuracy analysis of a platform based on low-cost components for landmark-based navigation intended for research and teaching purposes. The proposed platform includes a LEGO MINDSTORMS NXT 2.0 kit, an Android-based Smartphone as well as a compact laser scanner Hokuyo URG-04LX. The robot is used in a small indoor environment, where GNSS is not available. Therefore, a landmark map was produced in advance, with the landmark positions provided to the robot. All steps of procedure to set up the platform are shown. The main focus of this paper is the reachable positioning accuracy, which was analyzed in this type of scenario depending on the accuracy of the reference landmarks and the directional and distance measuring accuracy of the laser scanner. Several experiments were carried out, demonstrating the practically achievable positioning accuracy. To evaluate the accuracy, ground truth was acquired using a total station. These results are compared to the theoretically achievable accuracies and the laser scanner’s characteristics.