Abstract
Numerous methods for capturing geospatial data exist. This chapter focuses on those most commonly applied for geographic information systems, namely photogrammetry and remote sensing. In addition, important new trends such as geosensor networks and indoor mapping are addressed. Section 9.1 discusses passive sensors. Firstly, digital photogrammetric mapping cameras are explained followed by an overview of multispectral sensing techniques as well as thermal imaging. Section 9.2 treats active sensors and explains imaging by RADAR and airborne LIDAR.
An introduction to modern navigation methods is provided in Sect. 9.3, Global Navigation Satellite Systems (GNSS) measuring 3-D position and inertial navigation systems measuring the attitude. Sensor orientation describing the geometric relation between the output of a sensor (an image) and the object space (the Earth) is dealt with in Sect. 9.4. Geometric models as well as the methods for finding the appropriate parameters are also described. As a basis for automatic processes, an introduction to feature matching is included. Section 9.5 discusses two important results of photogrammetry and remote sensing for geographic information systems: digital surface models and orthophotos. The chapter concludes with geosensor networks (Sect. 9.6), indoor mapping and paper maps. The discussion of paper maps, their transformation to a digital representation, and the related accuracy issues is also presented.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
Abbreviations
- 2-D:
-
two-dimensional
- 3-D:
-
three-dimensional
- AAT:
-
Automated aerial triangulation
- ALS:
-
airborne laser scanning
- AT:
-
aerial triangulation
- BLUE:
-
Best Linear Unbiased Estimation
- C/A:
-
coarse-acquisition
- CCD:
-
Charge Coupled Device
- CPU:
-
central processing unit
- CRS:
-
coordinate reference system
- CW:
-
Continuous wave
- DBS:
-
distributed spatial database system
- DEM:
-
digital elevation model
- DGPS:
-
Differential Global Positioning System
- DIN:
-
Deutsches Institut für Normung e.V., German Institute for Standardization
- DSM:
-
digital surface model
- DTG:
-
dynamically tuned gyros
- DTM:
-
digital terrain model
- DoG:
-
difference of Gaussians
- ECEF:
-
Earth-centered Earth-fixed
- EGNOS:
-
European Geostationary Navigation Overlay Service
- EKF:
-
extended Kalman filter
- EM:
-
Electromagnetic
- EM:
-
expectation maximization
- EO:
-
exterior orientation
- FOG:
-
fiber optical gyros
- FOV:
-
field of view
- GAGAN:
-
GPS Aided Geo Augmented Navigation
- GCP:
-
ground control point
- GDF:
-
Geographic Data Files
- GIS:
-
Geographic Information System
- GLAS:
-
geoscience laser altimeter
- GLONASS:
-
Globalnaya Navigatsionnaya Sputnikovaya Sistema
- GNSS:
-
Global Navigation Satellite System
- GPS:
-
Global Positioning System
- GSD:
-
Ground sample distance
- GSN:
-
geosensor networks
- ID:
-
identifier
- IFOV:
-
instantaneous field of view
- IIF:
-
Image Interchange Format
- IMU:
-
inertial measurement unit
- INS:
-
Integrated Navigation System
- IO:
-
interior orientation
- IR:
-
Implementing Rules
- ISEO:
-
integrated sensor orientation
- ISO:
-
International Organization for Standardization
- ISPRS:
-
International Society for Photogrammetry and Remote Sensing
- InSAR:
-
Interferometric SAR
- LIDAR:
-
light detection and ranging, Laser Scanning
- LMM:
-
linear mixing model
- LSR:
-
Local space rectangular
- MEMS:
-
microelectromechanical system
- MIT:
-
Massachusetts Institute of Technology
- MS:
-
multispectral
- MSS:
-
Multi-Spectral Scanner
- MTSAT:
-
Meteorological Satellite
- NCC:
-
normalized cross-correlation
- PAI:
-
Positional Accuracy Improvement
- PCA:
-
Principle Component Analysis
- PD:
-
principal distance
- PP:
-
principal point
- PPP:
-
Precise Point Positioning
- PRF:
-
Pulse repetition frequency
- RADAR:
-
Radio Detection and Ranging
- RAM:
-
random-access memory
- RANSAC:
-
random sample consensus
- RAR:
-
real aperture RADAR
- RFID:
-
Radio Frequency Identification
- RGB:
-
red, green, blue
- RLG:
-
ring laser gyros
- RTK:
-
Real Time Kinematic
- SAR:
-
synthetic aperture Radar
- SBAS:
-
satellite-based augmentation system
- SIFT:
-
scale invariant feature transform
- SLA:
-
shuttle laser altimeter
- SLAM:
-
simultaneous localization and mapping
- SLR:
-
Satellite laser ranging
- SLR:
-
Side Looking RADAR
- SNR:
-
Signal-to-Noise Ratio
- SPP:
-
Single Point Positioning
- SPS:
-
Sensor Planning Service
- SQL:
-
Structured Query Language
- SRTM:
-
Shuttle RADAR Topography Mission
- SW:
-
swath width
- TIN:
-
Triangulated Irregular Network
- TLS:
-
terrestrial laser scanning
- VNIR:
-
Visible/near infrared
- WAAS:
-
Wide Area Augmentation System
- WGS84:
-
World Geodetic System 1984
- ifp:
-
Institute for Photogrammetry
- l-ENU:
-
east–north–up
- l-NED:
-
north–east–down
References
P. Wolf: Elements of Photogrammetry (McGraw-Hill, New York 1974)
K. Kraus: Photogrammetry – Geometry from Images and Laser Scans (de Gruyter, Berlin 2007)
C. Slama: Manual of Photogrammetry, 4th edn. (American Society of Photogrammetry, Bethesda 1980)
T. Luhmann: Nahbereichsphotogrammetrie (Wichmann, Heidelberg 2000)
H.-K. Meier: Über die geometrische Genauigkeit von Luftbildkammern, Proc. 35th Photogramm. Week, Schriftenr. Inst. Photogramm. 2, 89–103 (1976)
D.C. Brown: The bundle adjustment – progress and prospects, Int. Arch. Photogramm. 21(3), 33 (1976)
H. Ebner: Self calibrating block adjustment, XIIIth Congress of the International Society for Photogrammetry, Commission III, Helsinki (Helsinki 1976)
A. Grün: Accuracy, reliability and statistics in close-range photogrammetry, Inter-congress symposium, International Society for Photogrammetry, Com. V, Stockholm, Sweden (Stockholm 1978)
G. Petri: Deja Vu – The configurations of the new airborne digital imagers are all rooted in the distant past!, GeoInformatics 3(5), 48–51 (2000)
C. Dörstel, K. Jacobsen, D. Stallmann: DMC – Photogrammetric accuracy – calibration aspects and generation of synthetic DMC images, Proc on Optical 3-D Measurement Techniques VI, Zürich (Zürich 2002) pp. 74–82
R. Ladstädter, H. Tschemmernegg, M. Gruber: Calibrating the Ultracam aerial camera systems, an update, Proc. International Calibration and Orientation Workshop EuroCOW 2010 (Castelldefels, Spain 2010), , on CD, 8 pages
R.C. Gonzalez, R.E. Woods: Digital Image Processing (Addison-Wesley, Reading 1992)
S. Becker, N. Haala, E. Honkavaara, L. Markelin: Image restoration for resolution improvement of digital aerial images: A comparison of large format cameras, Proc ISPRS Commission I symposium 2006, Vol. XXXVI (Part I IAPRS, Marne le Valle 2006)
M. Ehlers, S. Klonus, P.J. Åstrand, P. Rosso: Multi-sensor image fusion for pansharpening in remote sensing, Int. J. Imag. Data Fusion 1(1), 25–45 (2010)
G. Petri, S. Walker: Airborne digital imaging technology: A new overview, Photogramm. Rec. 22(119), 203–225 (2007), digital available at http://web2.ges.gla.ac.uk/∼gpetrie/Petrie_Walker_j.1477-9730.2007.00446.pdf (last access Oct 12, 2010).
O. Hofmann, P. Navé, H. Ebner: DPS – A Digital Photogrammetric System for producing digital elevation models and orthophotos by means of linear array scanner imagery, P.E.R.S. 50(8), 1135–1142 (1984)
E.E. Derenyi: An exploratory investigation concerning relative orientation of continuous strip imagery. Ph.D. Thesis (Dept. of Surveying Engineering, University of New Brunswick 1970) p. 144
DIN 18716-3:1997-07: Photogrammetrie und Fernerkundung – Teil 3: Begriffe der Fernerkundung (DIN, Berlin 1997)
N.M. Short Sr. (Ed.): The Remote Sensing Tutorial, Landsat Program Science Office (Nasa, Washington 2011), available at http://rst.gsfc.nasa.gov/Intro/Part2_16.html
DIN 5031:1984, Teil 7: Strahlungsphysik im optischen Bereich und Lichttechnik – Benennung der Wellenlängenbereiche (DIN, Berlin 1984)
N.M. Short Sr.: Landsatʼs Multi-Spectral Scanner (NASA, Greenbelt 2011 2010), available from http://rst.gsfc.nasa.gov (last access July 20)
J. Albertz, M. Wiggenhagen: Taschenbuch zur Photogrammetrie und Fernerkundung, Guide for Photogrammetry and Remote Sensing (Wichmann, Berlin 2009)
J.H. Bowles, D.B. Gillis: An optical real-time adaptive spectral identification system (ORASIS). In: Hyperspectral Data Exploitation, Theory and Applications, ed. by C.-I. Chang (Wiley, New York 2009) pp. 78–79
ISO/TS 19130:2010: Geographic information – Imagery sensor models for geopositioning (ISO, Geneva 2010)
J.A. Richards: Remote Sensing with Imaging RADAR (Springer, Berlin Heidelberg 2009)
J.P. Fitch: Synthetic Aperture RADAR (Springer, Berlin Heidelberg 1988)
J.-S. Lee, J.-H. Wen, T.L. Ainsworth, K.-S. Chen, A.J. Chen: Improved sigma filter for speckle filtering of SAR imagery, IEEE Trans. Geosci. Remote Sens. 47(2), 202–213 (2009)
U. Sörgel (Ed.): RADAR Remote Sensing of Urban Areas (Springer, Berlin Heidelberg 2009)
A. Moreira: RADAR mit synthetischer Apertur – Grundlagen und Signalverarbeitung. Ph.D. Thesis (TH), Karlsruhe 2000)
W. Keydel: Normal and Differential SAR Interferometry: RTO-EN-SET-081 (Microwaves and RADAR Institute DLR, Oberpfaffenhofen 2004)
A. Wehr, U. Lohr: Airborne laser scanning – An introduction and overview, ISPRS J. Photogram. Remote Sens. 54(2/3), 6882 (1999)
P. Schaer: In-flight Quality Assessment and Data Processing for Airborne Laser Scanning. Ph.D. Thesis (Swiss Federal Institute of Technology, Lausanne 2009)
C. Hug: The scanning laser altitude and reflectance sensor – An instrument for efficient 3D terrain survey, Int. Arch. Photogram. Remote Sens. Spatial Inf. Sci. 30, 100–107 (1994)
U. Lohr, A. Beraldin, F. Blais: Laser scanning technology. In: Airborne and Terrestrial Laser Scanning, ed. by G. Vosselman, H.-G. Maas (Whittles, Dunbeath 2010)
C. Carabajal, D. Harding, S.B. Luthcke, W. Fong, S. Rowton, J. Frawley: Processing of shuttle laser altimeter range and return pulse energy data in support of LSA-02, Int. Arch. Photogram. Remote Sens. Spat. Inf. Sci. 32(4A), 269–277 (1999)
K. Morin: Calibration of airborne laser scanners, UCGE Report No. 20179 (Univ. of Calgary, Calgary 2002)
V. Spikes, B. Csatho, I. Whillans: Airborne laser profiling of antartic ice stream for change detection, Int. Arch. Photogram. Remote Sens. Spat. Inf. Sci. 32(3-W14), 7 (1999)
A. Geiger, H.G. Kahle, P. Limpach: Airborne laser profiling, ETH Res. Database 6120 (Swiss Federal Institute of Technology, ETH Zurich 2009)
S. Revnivykh: GLONASS status and progress, Proc. ION GNSS 2008, Savannah (2008)
T. Stansell, R. Fontana, W. Cheung: The modernized I2 civil signal, GPS World, September (2001)
A. Leick: GPS Satellite Surveying, Science/Geography, 3rd edn. (Wiley, New York 2004)
G. Hein, J. Rodriguez, S. Wallner, B. Eissfeller, T. Pany, P. Hartl: Envisioning a future: GNSS system of systems, Inside GNSS January/February, 58–66 (2007)
C. Satirapod, P. Homniam: GPS precise point positioning software for ground control point establishment in remote sensing applications, J. Surv. Eng. (ASCE) 132(1), 11–14 (2006)
D. Titterton, J. Weston: Strapdown Inertial Navigation Technology (IEE, Stevenage 1997)
C. Jekeli: Inertial Navigation Systems with Geodetic Applications (de Gruyter, Berlin 2001)
R. Andersson, H.R. Bilger, G.E. Stedman: Sagnac effect: A century of Earth-rotated interferometers, Am. J. Phys. 62, 975–985 (1994)
R. Greenspan: Inertial navigation technology from 1970 to 1995, J. Inst. Navig. 42, 165–186 (1995)
K. Legat: Approximate direct georeferencing in national coordinates, ISPRS J. Photogram. Remote Sens. 60, 239–255 (2006)
J. Skaloud, K. Legat: Theory and reality of direct georeferencing in national coordinates, ISPRS J. Photogram. Remote Sens. 63, 272–282 (2008)
M. Cramer, D. Stallmann: System calibration for direct georeferencing, ISPRS Commission III Symposium, Graz (2002) p. 6
E. Kruck: Combined IMU and sensor calibration with bingo-f, Proc. OEEPE Workshop, CD-ROM, Hannover (2001) pp. 84–108
J. Skaloud, P. Schaer: Towards a more rigorous boresight calibration, ISPRS InternationalWorkshop on Theory Technology and Realities of Inertial/GPS/Sensor Orientation Castelldefels (2003)
D. Cosandier: Generating a digital elevation model and orthomosaic from pushbroom imagery (The University of Calgary, Calgary 1999), UCGE report no. 20133
U. Tempelmann, L. Hinsken: Triangulation of ADS40 pushbroom image blocks – not much different from classical frame blocks?, SGPBF Annual Meeting, Lausanne (2005)
H. Burman: Calibration and orientation of airborne image and laser scanner data using GPS and INS. Ph.D. Thesis (Royal Institute of Technology, Stockholm 2000)
H. Kager: Discrepancies between overlapping laser scanning strips - simultaneous fitting of aerial laser scanner strips, Arch. Photogram. Remote Sens. Spatial Inf. Sci. 35(B1), 555–560 (2004)
K. Morin, N. El-Sheimy: Post-mission adjustment of airborne laser scanning data, FIG XXII International Congress, Washington DC,CD-ROM (2002) p. 12
P. Friess: Toward a rigorous methodology for airborne laser mapping, Proc. Euro-COW, CD-ROM, Castelldefels (2006) p. 7
J. Skaloud, D. Lichti: Rigorous approach to bore-sight self calibration in airborne laser scanning, ISPRS J. Photogram. Remote Sens. 61, 47–59 (2006)
W. Förstner, B. Wrobel: Mathematical concepts in photogrammetry. In: Manual of Photogrammetry, 5th edn., ed. by J. Mc-Glone, E. Mikhail (American Society of Photogrammetry and Remote Sensing, Bethesda 2004) pp. 15–180
A. Bjerhammar: Theory of errors and generalized matrix inverses (Elsevier, Amsterdam 1973)
C. Schmid, R. Mohr, C. Bauckhage: Evaluation of interest point detectors, Int. J. Comput. Vis. 37(2), 151–172 (2000)
I. Jazayeri, C. Fraser: Interest operators for feature-based matching in close range photogrammetry, Photogramm. Rec. 25(129), 24–41 (2010)
R.M. Haralick, L.G. Shapiro: Computer and Robot Visions (Addison-Wesley, Reading 1992)
W. Förstner, E. Gülch: A fast operator for detection and precise location of distinct points, corners and centers of circular features, Proc. of the ISPRS Intercommission Workshop on Fast Processing of Photogrammetric Data. (1987) pp. 281–305
C. Harris, M. Stephens: A combined corner and edge detector, Proc. 4th Alvey Vision Conference. (1988) pp. 147–151
D.G. Lowe: Distinctive image features from scale invariant key points, Int. J. Comput. Vis. 60(2), 91–110 (2004)
M.A. Fischler, R.C. Bolles: Random sample consensus: A paradigm for model fitting with applications to image analysis and automated cartography, Commun. ACM 24, 381–395 (1981)
D. Nistér: An efficient solution to the five-point relative pose problem, IEEE Trans. Pattern Anal. Mach. Intell. 26(6), 756–770 (2004)
C. Ressl, H. Kager, G. Mandlburger: Quality checking of als projects using statistics of strip differences, Int. Arch. Photogramm. Remote Sens. XXXVII, 253–260 (2008)
P.J. Besl, N. McKay: A method for registration of 3-D shapes, IEEE PAMI 14(2), 239–256 (1992)
J. Skaloud: Reliability of direct georeferencing phase 1: An overview of the current approaches and possibilities, Checking and Improving of Digital Terrain Models / Reliability of Direct Georeferencing, EuroSDR Offic, Vol. 51 (Bundesamt für Kartographie und Geodäsie, Frankfurt 2006)
I. Colomina: From off-line to on-line geocoding: The evolution of sensor orientation, Proc. Photogrammetric Week 2007 (Wichmann, Heidelberg 2007) pp. 173–183
M. Cramer: The ADS40 Vaihingen/Enz geometric performance test, J. Photogramm. Remote Sens. 60, 363–374 (2006)
M. Cramer: The EuroSDR network on digital camera calibration, Phase 1, Tech. Rep. Inst. Photogrammetry (University of Stuttgart, Stuttgart 2004)
S. Filin, G. Vosselman: Adjustment of airborne laser altimetry strips, Int. Arch. Photogramm. Remote Sens. 34, 285–289 (2004)
N. El-Sheimy, C. Valeo, A. Habib: Digital Terrain Modeling (Artech House, London 2005)
DIN 18740-2:2003: Photogrammetric products – Part 3: Requirements for the orthophoto (DIN, Berlin 2003)
K. Kraus: Photogrammetrie (Dümmler, Bonn 1994)
T. Luhmann: Nahbereichsphotogrammetrie – Grundlagen, Methoden, Anwendungen (Wichmann, Berlin 2003)
ISO 19123 (2005): Geographic information – Schema for coverage geometry and functions (ISO, Geneva 2005)
F. Zhao, L. Guibas: Wireless Sensor Networks: An Information Processing Approach (Morgan Kaufmann, San Francisco 2004)
S. Nittel, A. Stefanidis, I. Cruz, M. Egenhofer, D.A. Goldin, A. Howard, A. Labrinidis, S. Madden, A. Voisard, M. Worboys: Report from the First Workshop on Geo Sensor Networks, SIGMOD Record, Special Issue on Sensor Network Technology Infrastructure, Security, Data processing, and Deployment, ed. by V. Kumar (ACM SIGMOD, New York 2004)
S. Nittel: A survey of geosensor networks: Advances in dynamic environmental monitoring, Sensors 9(7), 5664–5678 (2009)
S. Madden, M. Franklin, J. Hellerstein, W. Hong: TAG Tiny AGgregate queries in ad-hoc sensor networks, Proc. USENIX Symposium on Operating Systems Design and Implementation (Boston 2002)
W. Demtröder, S. Svanberg: Optical and spectroscopic techniques. In: Springer Handbook of Layers and Optics, ed. by F. Träger (Springer, Berlin Heidelberg 2007), Chap. 13.3
J.J. Leonard, H.F. Durrant-Whyte: Simultaneous map building and localization for an autonomous mobile robot, Proc. IEEE/RSJ International Workshop on Intelligent Robots and Systems (1991) pp. 1442–1447
S. Thrun, W. Burgard, D. Fox: Probabilistic Robotics (MIT Press, Cambridge 2005)
J.O. Wallgrün: Hierarchical Voronoi Graphs - Spatial Representation and Reasoning for Mobile Robots (Springer, Berlin, Heidelberg 2010)
S. Thrun: Probabilistic algorithms in robotics, AI Mag. 21(4), 93–109 (2000)
D. Montello: The Cambridge Handbook of Visuospatial Thinking, Chap. 7 (Cambridge Univ. Press, Cambridge 2005) pp. 257–294
ISO 19133 (2005): Geographic Information – Location based services – Tracking and navigation (ISO, Geneva 2005)
T. Levitt, D. Lawton: Qualitative navigation for mobile robots, Artif. Intell. 44, 305–360 (1990)
B. Kuipers: The spatial semantic hierarchy, Art. Intell. 119, 191–233 (2000)
S. Engelson, D. McDermott: Error correction in mobile robot map learning, Proc. IEEE Conference on Robotics and Automation, ICRA92 (1977) pp. 2555–2560
C. Galindo, A. Saffiotti, S. Coradeschi, P. Buschka, J.A. Fernández-Madrigal, J. González: Multi-hierarchical semantic maps for mobile robotics, Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS-05 (2005) pp. 3492–3497
P. Buschka, A. Saffiotti: Some notes on the use of hybrid maps for mobile robots, Proc. International Conference on Intelligent Autonomous Systems, (IAS-04) (2004) pp. 547–556
A. Elfes: Using occupancy grids for mobile robot perception and navigation, Computer 22(6), 46–57 (1989)
H.P. Moravec, A. Elfes: High resolution maps from angle sonar, Proc. IEEE Conference on Robotics and Automation, ICRA-85 (1985) pp. 116–121
H.P. Moravec: Robot spatial perception by stereoscopic vision and 3D evidence grids, (1996) Tech. Rep. CMU-RI-TR-96-34
R.A. Howard: Dynamic Programming and Markov Processes (Wiley, New York 1960)
B. Yamauchi: A frontier-based approach for autonomous exploration, Proc. 1997 IEEE Int. Symp. Computational Intell. Robot. Automat. (1997) p. 146
F. Bourgault, A. Makarenko, S. Williams, B. Grocholsky, H. Durrant-Whyte: Information based adaptive robotic exploration, Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems IROS-02, Vol. 1 (IEEE, Bellingham 2002) pp. 540–545
H. Samet: An overview of quadtrees, octrees and related hierarchical data structures, NATO ASI Ser. F 40, 51–68 (1988)
A. Zelinsky: A mobile robot exploration algorithm, IEEE Trans. Robot. Autom. 8(6), 707–717 (1992)
ISO 19125:2004: Geographic information - Simple feature access (ISO, Geneva 2004)
ISO 19107:2003: Geographic information - Spatial schema (ISO, Geneva 2003)
D. Hähnel, W. Burgard, S. Thrun: Learning compact 3D models of indoor and outdoor environments with a mobile robot, Robot. Auton. Syst. 44, 15–27 (2003)
J.-C. Latombe: Robot Motion Planning (Kluwer Academic, Dordrecht 1991)
J. Guivant, E.M. Nebot: Optimization of the simultaneous localization and map-building algorithm for real-time implementation, IEEE Trans. Robot. Autom. 17(3), 242–257 (2001)
U. Frese: Treemap: An O( log n) algorithm for indoor simultaneous localization and mapping, Auton. Robot. 21(2), 103–122 (2006)
S.B. Williams, P.M. Newman, J. Rosenblatt, G. Dissanayake, H.F. Durrant-Whyte: Autonomous underwater navigation and control, Robotica 19(5), 481–496 (2001)
M.O. Franz, B. Schölkopf, H.A. Mallot, H.H. Bülthoff: Learning view graphs for robot navigation, Auton. Robot. 5(1), 111–125 (1998)
S. Werner, B. Krieg-Brückner, T. Herrmann: Modelling navigational knowledge by route graphs, LNCS,LNAI 1849, 295–316 (2000)
T. Brinkhoff: Geodatenbanksysteme in Theorie und Praxis (Wichmann, Berlin 2008)
D.T. Lee, R.L.S. Drysdale III: Generalization of Voronoi diagrams in the plane, SIAM J. Comput. 10(1), 73–87 (1981)
H. Blum: A transformation for extracting new descriptors of shape, Models for the Perception of Speech and Visual Form (MIT, Cambridge 1967) pp. 362–381
E.W. Dijkstra: A note on two problems in connexion with graphs, Numer. Math. 1, 269–271 (1959)
P. Hart, N. Nilsson, B. Raphael: A formal basis for the heuristic determination of minimum cost paths, IEEE Trans. Syst. Sci. Cybern. 4, 100–107 (1968)
S. Thrun: Learning metric-topological maps for indoor mobile robot navigation, Artif. Intell. 99(1), 21–71 (1998)
J.A. Fernández, J. González: A general world representation for mobile robot operations, Seventh Conference of the Spanish Association for the Artificial Intelligence CAEPIAʼ97 (1997) p. 3544
W.K. Yeap, M.E. Jefferies: Computing a representation of the local environment, Artif. Intell. 107, 265–301 (1999)
R.E. Kalman: A new approach to linear filtering and prediction problems, ASME J. Basic Eng. D 82, 35–45 (1960)
H. Durrant-Whyte, T.C. Henderson: Multisensor data fusion. In: Springer Handbook of Robotics, ed. by B. Siziliano, O. Khatib (Springer, Berlin Heidelberg 2008), Chap. 25
R.C. Smith, P. Cheeseman: On the representation and estimation of spatial uncertainty, Int. J. Robot. Res. 5(4), 56–68 (1986)
A. Mutambara: Decentralized estimation and control for multisensor systems (CRC Press, Boca Raton 1998)
A. Doucet, N. de Freitas, K.P. Murphy, S.J. Russell: Rao-Blackwellized particle filtering for dynamic Bayesian networks, Proc. 16th Conference on Uncertainty in Artificial Intelligence (UAI ʼ00) (Morgan Kaufmann, San Francisco 2000) pp. 176–183
B. Kuipers, J. Modayil, P. Beeson, M. MacMahon, F. Savelli: Local metrical and global topological maps in the hybrid spatial semantic hierarchy, Proc. IEEE International Conference on Robotics and Automation 2004, ICRA-04 (2004) pp. 4845–4851
I.J. Cox, J.J. Leonard: Modeling a dynamic environment using a Bayesian multiple hypothesis approach, Artif. Intell. 66(2), 311–344 (1994)
A.P. Dempster, N.M. Laird, D.B. Rubin: Maximum likelihood from incomplete data via the EM algorithm, J. R. Statist. Soc. B 39, 1–38 (1977)
S. Thrun, W. Burgard, D. Fox: A probabilistic approach to concurrent mapping and localization for mobile robots, Mach. Learn. 31(1–3), 29–53 (1998)
G. Grisetti, C. Stachniss, W. Burgard: Improved techniques for grid mapping with Rao-Blackwellized particle filters, IEEE Trans. Robot. 23, 34–46 (2007)
M. Montemerlo, S. Thrun, D. Koller, B. Wegbreit: FastSLAM: A factored solution to the simultaneous localization and mapping problem, Proc. AAAI National Conference on Artificial Intelligence (2002) pp. 593–598
D. Hähnel, W. Burgard, D. Fox, S. Thrun: An efficient FastSLAM algorithm for generating maps of large-scale cyclic environments from raw laser range measurements, Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS-03 (2003) pp. 206–211
B. Siciliano, O. Khatib (Eds.): Springer Handbook of Robotics (Springer, Berlin, Heidelberg 2008), Part E: Mobile and Distributed Robotics
K.E. Foote, D.J. Huebner: Error, Accuracy, and Precision (Department of Geography, University of Texas at Austin 1995), available from http://www.colorado.edu/geography/gcraft/notes/error/error_f.html (last access 2/10/2011)
R.A. Knippers: Geometric aspects of mapping (ITC, Enschede, Department of Geo-information Processing 2010), available from http://www.kartografie.nl/geometrics/coordinate%20transformations/coordtrans.html
Author information
Authors and Affiliations
Corresponding authors
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2011 Springer-Verlag
About this chapter
Cite this chapter
Cramer, M., Kresse, W., Skaloud, J., Haala, N., Nittel, S., Wallgrün, J.O. (2011). Data Capture. In: Kresse, W., Danko, D. (eds) Springer Handbook of Geographic Information. Springer Handbooks. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-72680-7_9
Download citation
DOI: https://doi.org/10.1007/978-3-540-72680-7_9
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-72678-4
Online ISBN: 978-3-540-72680-7
eBook Packages: Earth and Environmental ScienceEarth and Environmental Science (R0)