Publications de Jan Skaloud | EPFL Graph Search

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Drone mapping with GNSS-assisted photogrammetry is a highly efficient method for surveying small -or medium- sized areas. However, the mapping quality is not intuitively predictable, particularly in complex environments (with steep and cluttered terrain), ...

A recently proposed navigation methodology for aerial platforms based on the vehicle dynamic model (VDM) has shown promising results in terms of navigation autonomy. Its practical realization requires that control inputs are related to the same absolute ti ...

A relatively novel approach of autonomous navigation employing platform dynamics as the primary process model raises new implementational challenges. These are related to: (i) potential numerical instabilities during longer flights; (ii) the quality of mod ...

The UAV mapping industry expanded tremendously during the last five years. Thanks to miniaturization, automation and advertising, this technology may give a wrong impression that mapping of certain quality is as simple as clicking few buttons on a PC. Moreover, with a large and continuously increasing offer of hardware and software, the identification of the right tools is not easy, especially when aiming at certain standard. In this respect, the mapping with LiDAR is more delicate than with a camera due to

This paper describes an experiment involving a professional downhill skier equipped with GPS and MEMS-IMU, as well as a triad of magnetometers and a tactical-grade inertial unit. The experiment illustrates the navigation performance of GPS/MEMS integration compared to high-quality GPS/INS integration challenged by the environmental conditions and dynamics of ski-racing. The MEMs sensors'output is directly compared to the reference signals. This information is used to validate the error models of the inertia

The deterministic errors of an accelerometer comprise the prevailing i) bias, ii) scale factor, and iii) non-orthogonality. Together, these errors result in a nonlinear measurement model, which is conventionally solved via an iterative nonlinear least-squa ...

In this article, we investigate two different algorithms for the integration of GPS with redundant MEMS-IMUs. Firstly, the inertial measurements are combined in the observation space to generate a synthetic set of data which is then integrated with GPS by the standard algorithms. In the second approach, the method of strapdown navigation needs to be adapted in order to account for the redundant measurements. Both methods are evaluated in experiments where redundant MEMSIMUs are fixed in different geometries

The combination of Global Navigation Satellite Systems (GNSS) and Inertial Navigation System (INS) has become the baseline of many transportation applications. In this work, we design a tightly-coupled integration between GNSS and INS where we modify the u ...

The AVIRIS-4 is a state of the art imaging spectrometer developed by NASA-JPL for the consortium of Swiss universities ARES. Measurement campaigns using this instrument started in 2024. According to the agreement with NASA-JPL, all imagery produced by the ...

A mapping system by vision-aided inertial navigation was developed for areas where GNSS signals are unreachable. In this framework, a methodology on the integration of vision and inertial sensors is presented, analysed and tested. The system employs the me ...

A new open-source software platform that, among others, allows to select models for inertial sensor stochastic calibration is presented in this paper. This platform consists in a package included in the statistical software R. The identification of stochas ...

This article presents a new estimation method for the parameters of a time series model. We consider here composite Gaussian processes that are the sum of independent Gaussian processes which, in turn, explain an important aspect of the time series, as is ...

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 w ...

In airborne laser scanning a high-frequency trajectory solution is typically determined from inertial sensors and employed to directly geo-reference the acquired laser points. When low-cost MEMS inertial sensors are used, such as in lightweight unmanned ae ...

The combination of Global Navigation Satellite Systems (GNSS) and Inertial Navigation System (INS) has become the baseline of many vehicular applications. However, in challenging GNSS scenarios, classical GNSS/INS integration estimators are very sensitive ...

As with a growing number of athletes, competitive skiers are looking to GNSS technology to help evaluate and improve their performance. Positions logged during practice runs or races can be transformed into 3-D models of the exact trajectories skied to mea ...

This paper presents an all-airborne approach for the geometric self-calibration of medium format digital cameras used in direct georeferencing. The motivation for this research was the problems of variation of distortion within the photographic field and high parameter correlations that can result from laboratory self-calibration. Determination of the lens distortion coefficients requires convergent imaging geometry and this is the primary reason why laboratory calibration is normally preferred. We propose

Although well established in the aviation community, low-cost and vehicle independent "black-box" technology for accident analysis, adapted to mass-market ground-based vehicles, is an emerging technology with growing importance. Whilst several produits sui ...

This paper proposes a novel method to improve georeferencing of airborne laser scanning by improved trajectory estimation using Vehicle Dynamic Model. In Vehicle Dynamic Model (VDM), the relationship between the dynamics of the platform and control inputs ...

The goal of this contribution was to develop a reliable quality indicator reflecting the potential success of differential carrier phase ambiguity resolution for kinematic Global Positioning System (GPS). The indicator must be operable without any communic ...

Jan Skaloud

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Mapping quality prediction for RTK/PPK-equipped micro-drones operating in complex natural environment

Sensitivity to Time Delays in VDM-Based Navigation

Reliable strategies for implementing model-based navigation on fixed-wing drones

Airborne and mobile LiDAR, which sensors for which application?

Assessment of GPS/MEMS-IMU Integration Performance in Ski Racing

Linear Estimation of Deterministic Accelerometer Errors

Redundant MEMS-IMU integrated with GPS for Performance Assessment in Sports

Robust Tightly Coupled GNSS/INS Estimation for Navigation in Challenging Scenarios

Quality assessment of Airborne Image Spectrometry Data for the AVIRIS-4

Vision-aided inertial navigation system for robotic mobile mapping

An inertial sensor calibration platform to estimate and select error models

Wavelet-variance-based estimation for composite stochastic processes

Construction of Dynamically-Dependent Stochastic Error Models

On the benefit of concurrent adjustment of active and passive optical sensors with GNSS & raw inertial data

Tightly Coupled GNSS/INS Integration based on Robust M-Estimators

Turning Point - Trajectory Analysis for Skiers

On the calibration strategy of medium format cameras for direct georeferencing

Autarktic and Inertial Measurements based Low-cost Reconstruction of Motorcycle forward Speed

Model-based constraints for trajectory determination of quad-copters: Design, calibration & merits for direct orientation

Prediction of phase ambiguity resolution based on signal intensity and geometry