Publications by Jan Skaloud | EPFL Graph Search

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Individual points produced by airborne laser scanning (ALS) may have large variation in their accuracy, a fact that is often omitted in the subsequent derivation of digital terrain models. The accuracy of a single point is governed by three main factors: F ...

Abstract. Hyperspectral cameras have recently been miniaturized for operation on lightweight airborne platforms such as UAV or small aircraft. Unlike frame cameras (RGB or Multispectral), many hyperspectral sensors use a linear array or ’push-broom’ scanning design. This design makes image rectification and the calibration of intrinsic and extrinsic camera parameters significantly more challenging. Standard methods employed to address such tasks rely on precise GPS/INS estimates of the airborne platform tra

This paper will introduce the goals, concept and results of the project named CLOSE-SEARCH, which stands for ’Accurate and safe EGNOS-SoL Navigation for UAV-based low-cost Search-And-Rescue (SAR) operations’. The main goal is to integrate a medium-size, he ...

Integrating visual and inertial sensors has become a common practice in navigation due to the increase in computer power, in algorithms advancement and in sensor improvements. One of the problems yet to be solved is the Simultaneous Localisation And Mappin ...

Navigation of drones is predominantly based on sensor fusion algorithms. Most of these algorithms make use of some form of Bayesian filtering with a majority employing an Extended Kalman Filter (EKF), wherein inertial measurements are fused with a Global N ...

This study shows the potential of navigation technologies in the field of position and orientation determination on a micro aerial vehicle (MAV), which weight does not exceed 5 kg. Although the MAV systems feature high flexibility and capability of flying ...

Autonomous navigation is a crucial aspect for fixed-wing unmanned aerial vehicle operation when encountering disturbance or denial of GNSS signal reception. Vehicle dynamic model-based navigation improves the performance of methods based exclusively on int ...

The integration of observations issued from a satellite-based system (GNSS) with an inertial navigation system (INS) is usually performed through a Bayesian filter such as the extended Kalman filter (EKF). The task of designing the navigation EKF is strong ...

Stochastic modeling is a challenging task for low- cost inertial sensors whose errors can have complex spectral structures. This makes the tuning process of the INS/GNSS Kalman filter often sensitive and difficult. We are currently investigating two approa ...

Advances in unmanned aerial vehicles (UAV) and especially micro aerial vehicle (MAV) technology together with increasing quality and decreasing price of imaging devices have resulted in growing use of MAVs in photogrammetry. The practicality of MAV mapping ...

This paper presents a novel approach to autonomous navigation for small UAVs, with no extra sensor added to the conventional INS/GNSS setup. The proposed method significantly increases the accuracy and reliability of autonomous navigation, especially for s ...

This research presents methods for detecting and isolating faults in multiple micro-electro-mechanical system inertial measurement unit (MEMS-IMU) configurations. First, geometric configurations with n sensor triads are investigated. It is proved that the ...

Traffic problems have mainly resulted from an increase in mobility over the last decades involving an increase in traffic congestion and degradation of environmental conditions. The employment of new systems - namely, Intelligent Transport Systems (ITS) is ...

This study explores AI methods for 3D semantic segmentation relying solely on image data. Using a dataset collected over electrical infrastructures in Switzerland, we evaluate and compare four image-based approaches: majority voting of classifications, logit-based aggregation, distance-weighted logits, and a combination of logits, distance weighting, and depth maps. The results demonstrate that image-only methods can achieve competitive performance, closely approaching the state-of-the-art results achieved

Wind estimation is crucial for studying the atmospheric boundary layer. Traditional methods such as weather balloons offer limited in situ capabilities; besides an Air Data System (ADS) combined with inertial measurements and satellite positioning is requi ...

The development of road telematics requires the management of continuously growing road databases. Mobile mapping systems can acquire this information, while offering an unbeatable productivity with the combination of navigation and videogrammetry tools. However, such technically advanced devices only go together with significant investments in staff and hardware. The Geodetic Engineering laboratory of the Swiss Federal Institute of Technology in Lausanne continues developing user-friendly and low-cost proc

Stochastic behavior of an instrument is often analyzed by constructing the Allan (or wavelet) variance signatures from an error signal. For inertial sensors, such a signature is conveniently obtained by recording data at rest. The analysis of this signal will result in noise-parameters adequate to such situation. Nonetheless, the value of the noise parameters may change under dynamics or other kind of external influences like for instance the temperature. In this research we study first the influence of the

This paper presents extensions and practical realization of a previously proposed novel approach to navigation and sensor integration for small unmanned aerial vehicles (UAV). The proposed approach employs vehicle dynamic model (VDM) as process model withi ...

This paper presents the first practical results of a model-based approach to autonomous navigation applied to a small delta wing drone. The aerodynamic coefficients of the considered platform are unknown and need to be determined for the (vehicle dynamic) model-based navigation to work properly. The proposed approach uses post-processed INS/GNSS trajectory estimates of relatively high precision as observations to refine ``priors'' of aerodynamic coefficients via state-estimation (Extended Kalman Filter). Tw

Wide signal bandwidth and precisely time-synchronized single-frequency network predetermines DVB-T and its successor DVB-T2 for Signals of Opportunity (SoP) radio positioning. Previously published methods were based on demanding OFDM symbol synchronization ...

Jan Skaloud

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Accuracy Estimation for Laser Point Cloud Including Scanning Geometry

Distortion Invariant Optical Calibration for Lightweight Airborne Imaging Spectrometry

SEARCHING LOST PEOPLE WITH UAVS: THE SYSTEM AND RESULTS OF THE CLOSE-SEARCH PROJECT

Integrating Photogrammetry and Inertial Sensors for Robotics Navigation and Mapping

VDMNav: Software Architecture for Aerodynamically Constrained Navigation on Small Fixed-Wing Drones

A Micro Aerial Vehicle with Precise Position and Attitude Sensors

Calibration of Fixed-Wing UAV Aerodynamic Coefficients with Photogrammetry for VDM-based Navigation

Generalized Method of Wavelet Moments for Inertial Navigation Filter Design

Improving Modeling of MEMS-IMUs Operating in GNSS-denied Conditions

Application Of Vehicle Dynamic Modeling In Uavs For Precise Determination Of Exterior Orientation

Autonomous Vehicle Dynamic Model-Based Navigation for Small UAVs

Fault Detection and Isolation in Multiple MEMS-IMUs Configurations

Position accuracy with redundant MEMS IMU for road applications

Advanced Image-Based Methods for 3D Semantic Segmentation of Lidar Point Clouds in Electrical Infrastructure Applications

Synthetic Wind Estimation for Small Fixed-Wing Drones

A mobile mapping system for road data capture via a single camera

Construction of dynamically-dependent stochastic error models

Assessment of VDM-based autonomous navigation of a UAV under operational conditions

Model Based Navigation of Delta-Wing UAV - In-Flight Calibration and Autonomous Performance

Indoor-Positioning in DVB-T/T2 Single-Frequency Networks Using Inverse Passive Radar Approach