Publications by Jan Skaloud | EPFL Graph Search

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Autonomous navigation of drones in environments with intermittently poor GNSS reception remains a complex problem with small and lightweight sensors. Conventional kinematic frameworks, fusing inertial sensors with satellite positioning, often falter under ...

This paper presents a novel approach to autonomous navigation for small UAVs, in which the vehicle dynamic model (VDM) serves as the main process model within the navigation filter. The proposed method significantly increases the accuracy and reliability o ...

This portable system offers fast deployment with no recalibration and maps both vertical and horizontal features while maintaning optimal flight parameters. The geo-referenced image and 3D point-cloud data can be processed into digital terrain models, digi ...

We introduce a three step procedure to improve attitude determination by MEMS-IMU sensors on board a small UAV. IMU pre-calibration is performed first and only once in the lab; second in a simplified version and for every switch-on in the field. Together, ...

The HELIMAP is a portable mapping system for quick helicopter deployment. It integrates high accuracy navigation sensors (GPS/INS) with Airborne Laser Scanner (ALS) and high-resolution digital (CCD) camera. This paper presents the system hardware and softw ...

This paper focuses on practical aspects when performing boresight calibration in airborne laser scanning using rigorous methodology implemented in LIBOR software. LIBOR technique, introduced by (Skaloud and Lichti, 2006), is based on expressing the boresig ...

A safer mobility is a key concern for the strategy of the European governments and automotive industries. At the moment, a new generation of Intelligent Integrated Transport Safety Systems (IITSS) offers a promising potential to address this issue. Such co ...

This paper presents the development of a low cost UAV (Unmanned Aerial Vehicle) with the capability of direct georeferencing. The advantage of such system lies in its high maneuverability, operation flexibility as well as capability to acquire image data w ...

One of the main problems of today's ALS is the lack of reliable data quality assessment within or shortly after the airborne survey campaign. The paper presents an in- flight quality monitoring tool that allows assessing the quality of the recorded data "o ...

The capability of a previously proposed VDM (vehicle dynamic model) based navigation method for UAVs is assessed in attitude determination without IMU data. This method utilizes the VDM as main process model within the navigation filter and treats data fro ...

We present a rigorous method for estimating some of the calibration parameters in airborne laser scanning (ALS), namely the three bore-sight angles and the range-finder offset. The technique is based on expressing the system calibration parameters within t ...

Photogrammetry and Laser-Scanning are usually considered as complementary. Integration of these two observation methods has the potential to blend their individual advantages. The resulting benefit is likely to be higher in drone airborne mapping, which pa ...

In the scope of rigorous sensor fusion in kinematic laser scanning, we present a qualitative improvement of an automated retrieval method of lidar-to-lidar 3D correspondences in terms of accuracy and speed, where correspondences are locally refined shifts ...

This paper presents a self-contained, light and flexible mapping system that can be quickly deployed into inaccessible areas. Although designed to measure wind-transported snow volumes and the snow avalanche runoff over and experimental site, the system is suitable to any large-scale 3-D terrain mapping.

This paper presents the derivation of surface-related quality indicators describing the confidence-metrics of the final geo-products de- rived from airborne laser scanning (ALS). We first discuss the number of factors influencing the qual- ity of the digit ...

This research studies the reduction and the estimation of the noise level within a redundant configuration of low-cost (MEMS-type) inertial measurement units (IMUs). Firstly, independent observations between units and sensors are assumed and the theoretica ...

This paper presents a methodology for the precise registering of airborne laser data directly in flight with an accuracy that is sufficient for the majority of derived products, such as digital terrain models. We first present the strategy that integrates ...

We designed a tightly-coupled integration between GNSS and inertial navigation systems (INS) where we modify the update step of a classical Extended Kalman Filter (EKF) to consider different robust estimators (such as M-estimators). We consider different f ...

We perform a comparison between an innovation and a residual based integrity monitoring in Extended Kalman Filters for the GNSS/INS hybridization. In this paper, we restrict the study to the detection of abrupt snapshot faults in order to get an intuitive insight. We study the differences in the distribution of the test statistics and the computation of the thresholds. We derive and compare the minimum detectable bias and we provide expressions for the protection levels for both approaches in the single fau

This paper demonstrates the potential of employment of small Unmanned Aircraft Systems (mUAS) for environmental research applications and the research of natural waterway systems in particular. Specifically, we describe the recent advances in the field of navigation technologies, and methodologies for high-precision determination of position and orientation of micro aerial vehicles (MAVs), which weight does not exceed 5 kg. Although the MAV systems feature high flexibility and capability of flying into area

Jan Skaloud

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Model-Based Fusion of GNSS and Multiple-IMUs

Autonomous Navigation Of Small Uavs Based On Vehicle Dynamic Model

An Eye for Landscapes - Rapid Aerial Mapping with Handheld Sensors

On the calibration aspects of MEMS-IMUs used in micro UAVs for sensor orientation

HELIMAP: Rapid Large Scale Mapping Using Handheld LiDAR/CCD/GPS/INS Sensors on Helicopters

Towards Automated LiDAR Boresight Self-calibration

Precise Road Geometry for Integrated Transport Safety Systems

A Micro-Uav with the Capability of Direct Georeferencing

Towards in-flight quality assessment of airborne laser scanning

VDM-based UAV Attitude Determination in Absence of IMU Data

Rigorous approach to bore-sight self-calibration in airborne laser scanning

Fusion of Photo with Airborne Laser Scanning

Generalization of point-to-point matching for rigorous optimization in kinematic laser scanning

High accuracy handheld mapping system for fast helicopter deployment

Automated Assessment of Digital Terrain Models Derived From Airborne Laser Scanning

Noise reduction and estimation in multiple micro-electro-mechanical inertial systems

Real-time registration of airborne laser data with sub-decimeter accuracy

Research online: Robust tightly coupled GNSS/INS estimation for navigation

Innovation vs Residual KF Based GNSS/INS Autonomous Integrity Monitoring in Single Fault Scenario

High-Precision Geomonitoring using Micro Aerial Vehicles