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  • Copernicus GmbH  (3)
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  • Copernicus GmbH  (3)
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  • 1
    Online Resource
    Online Resource
    REAL TIME DATA PROCESSING FOR OPTICAL REMOTE SENSING PAYLOADS
    Copernicus GmbH ; 2012
    In:  The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences Vol. XXXIX-B5 ( 2012-07-24), p. 63-68
    Details
    In: The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, Copernicus GmbH, Vol. XXXIX-B5 ( 2012-07-24), p. 63-68
    Abstract: Abstract. The application of operational systems for remote sensing requires new approaches for data processing. It has to be the goal to derive user relevant information close the sensor itself and to downlink this information to a ground station or to provide them as input to an actuator of the space-borne platform. A complete automation of data processing is an essential first step for a thematic onboard data processing. In a second step, an appropriate onboard computer system has to be de-signed being able to fulfill the requirements. In this paper, standard data processing steps will be introduced correcting systematic errors during image capturing. A new hardware operating system, which is the interface between FPGA hardware and data processing algorithms, gives the opportunity to implement complex data processing modules in an effective way. As an example the derivation the camera's orientation based on data of an optical payload is described in detail. The thereby derived absolute or relative orientation is essential for high level data products. This will be illustrated by means of an onboard image matcher
    Type of Medium: Online Resource
    ISSN: 2194-9034
    URL: Article
    DOI: 10.5194/isprsarchives-XXXIX-B5-63-2012
    Language: English
    Publisher: Copernicus GmbH
    Publication Date: 2012
    detail.hit.zdb_id: 2874092-0
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  • 2
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    Online Resource
    MEMORY EFFICIENT SEMI-GLOBAL MATCHING
    Copernicus GmbH ; 2012
    In:  ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences Vol. I-3 ( 2012-07-23), p. 371-376
    Details
    In: ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences, Copernicus GmbH, Vol. I-3 ( 2012-07-23), p. 371-376
    Abstract: Abstract. Semi-GlobalMatching (SGM) is a robust stereo method that has proven its usefulness in various applications ranging from aerial image matching to driver assistance systems. It supports pixelwise matching for maintaining sharp object boundaries and fine structures and can be implemented efficiently on different computation hardware. Furthermore, the method is not sensitive to the choice of parameters. The structure of the matching algorithm is well suited to be processed by highly paralleling hardware e.g. FPGAs and GPUs. The drawback of SGM is the temporary memory requirement that depends on the number of pixels and the disparity range. On the one hand this results in long idle times due to the bandwidth limitations of the external memory and on the other hand the capacity bounds are quickly reached. A full HD image with a size of 1920 × 1080 pixels and a disparity range of 512 pixels requires already 1 billion elements, which is at least several GB of RAM, depending on the element size, wich are not available at standard FPGA- and GPUboards. The novel memory efficient (eSGM) method is an advancement in which the amount of temporary memory only depends on the number of pixels and not on the disparity range. This permits matching of huge images in one piece and reduces the requirements of the memory bandwidth for real-time mobile robotics. The feature comes at the cost of 50% more compute operations as compared to SGM. This overhead is compensated by the previously idle compute logic within the FPGA and the GPU and therefore results in an overall performance increase. We show that eSGM produces the same high quality disparity images as SGM and demonstrate its performance both on an aerial image pair with 142 MPixel and within a real-time mobile robotic application. We have implemented the new method on the CPU, GPU and FPGA.We conclude that eSGM is advantageous for a GPU implementation and essential for an implementation on our FPGA.
    Type of Medium: Online Resource
    ISSN: 2194-9050
    URL: Article
    DOI: 10.5194/isprsannals-I-3-371-2012
    Language: English
    Publisher: Copernicus GmbH
    Publication Date: 2012
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  • 3
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    Online Resource
    IPS – A SYSTEM FOR REAL-TIME NAVIGATION AND 3D MODELING
    Copernicus GmbH ; 2012
    In:  The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences Vol. XXXIX-B5 ( 2012-07-20), p. 21-26
    Details
    In: The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, Copernicus GmbH, Vol. XXXIX-B5 ( 2012-07-20), p. 21-26
    Abstract: Abstract. fdaReliable navigation and 3D modeling is a necessary requirement for any autonomous system in real world scenarios. German Aerospace Center (DLR) developed a system providing precise information about local position and orientation of a mobile platform as well as three-dimensional information about its environment in real-time. This system, called Integral Positioning System (IPS) can be applied for indoor environments and outdoor environments. To achieve high precision, reliability, integrity and availability a multi-sensor approach was chosen. The important role of sensor data synchronization, system calibration and spatial referencing is emphasized because the data from several sensors has to be fused using a Kalman filter. A hardware operating system (HW-OS) is presented, that facilitates the low-level integration of different interfaces. The benefit of this approach is an increased precision of synchronization at the expense of additional engineering costs. It will be shown that the additional effort is leveraged by the new design concept since the HW-OS methodology allows a proven, flexible and fast design process, a high re-usability of common components and consequently a higher reliability within the low-level sensor fusion. Another main focus of the paper is on IPS software. The DLR developed, implemented and tested a flexible and extensible software concept for data grabbing, efficient data handling, data preprocessing (e.g. image rectification) being essential for thematic data processing. Standard outputs of IPS are a trajectory of the moving platform and a high density 3D point cloud of the current environment. This information is provided in real-time. Based on these results, information processing on more abstract levels can be executed.
    Type of Medium: Online Resource
    ISSN: 2194-9034
    URL: Article
    DOI: 10.5194/isprsarchives-XXXIX-B5-21-2012
    Language: English
    Publisher: Copernicus GmbH
    Publication Date: 2012
    detail.hit.zdb_id: 2874092-0
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