Global Coordinate Adjustment of 3D Survey Models in World Geodetic System under Unstable GPS Condition

摘要

3D models play vital role in intelligent transport systems and in geographic survey. Several methods are available for construction of such models. However, challenge lies in building 3D model of urban structures in world geodetic coordinate system for ITS applications where requirement is self-position estimation in world coordinates for autonomous navigation. The reason for such a challenge is due to poor availability of GPS signal in urban scenario. We deal with such challenge by capturing GPS data along with partially overlapping range scans at several positions. The range images are aligned in local coordinate system using fast and improved ICP algorithm. GPS data at selected positions with high probability of position accuracy is used to estimate the transformation between GPS position estimates and aligned scan centers. The obtained transformation is used to transform locally aligned 3D points into world coordinates. Evaluation based on orientation of building facades, positioning on aerial photos and overlapping of neighboring regions etc. confirm the accuracy of global alignment.