Ongoing independent assignments
Completed independent assignments
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Comparison of different measurement subsampling techniques in the localization of an autonomous multi-sensor-systemComparing various approaches to decrease the number of scanned data to be used for localizing multi-sensor-systems in an urban environment.Led by: Rozhin Moftizadeh, Hamza AlkhatibTeam:Year: 2022Duration: 05/2022 - 11/2022
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© Ernst
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Implementation of Constraints in Extended Kalman Particle Filter for Georeferencing of Multi-Sensor-SystemsReliable georeferencing of a Multi-Sensor-System (MSS) is a challenging task, which comprises at least the accurate determination of three translation and three orientation parameters. With the help of GNSS and IMU measurements, this information can be gained directly in the object coordinate system. However, sometimes the information coming from the sensor might not be reliable enough or it might even be unavailable, especially in urban areas. Because of the high building, GNSS information is affected by signal occlusions. In order to increase the accuracy of georeferencing, appropriate filtering techniques should be applied.Led by: Rozhin Moftizadeh, Hamza AlkhatibTeam:Year: 2022Duration: 10/2023 - 04/2023
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Implementation of Inversely Weighted Distance Subsampling Approach for Georeferencing of Multi-Sensor-Systems by Extended Kalman Particle FilterMulti-Sensor-System georeferencing is a challenging task when it comes to inner-city areas in which high-rise infrastructures avoid having reliable GNSS signals. On the other hand, the IMU data are usually subject to drifting over time. Therefore, suitable techniques should be used to compensate for the measurement errors of such sensors and hence to improve the reliability of the georeferencing solutions.Led by: Rozhin Moftizadeh, Hamza AlkhatibTeam:Year: 2022Duration: 10/2023 - 04/2023
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