High-end test-track digitalization as a basis for precise road - - PowerPoint PPT Presentation

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High-end test-track digitalization as a basis for precise road - - PowerPoint PPT Presentation

Mar 15, 2023 6 likes •286 views

High-end test-track digitalization as a basis for precise road modelling including textures Dr.-Ing. Gunnar Grfe 3D Mapping Solutions GmbH Example for a kinematic 3D Laser Scanner Point Cloud Scanner data taken along a high-speed test track

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Dr.-Ing. Gunnar Gräfe 3D Mapping Solutions GmbH

High-end test-track digitalization as a basis for precise road modelling including textures

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3D Mapping Solutions GmbH • Raiffeisenstrasse 16 • 83607 Holzkirchen • www.3d-mapping.de • info@3d-mapping.de

Example for a kinematic 3D Laser Scanner Point Cloud

Scanner data taken along a high-speed test track

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3D Mapping Solutions GmbH • Raiffeisenstrasse 16 • 83607 Holzkirchen • www.3d-mapping.de • info@3d-mapping.de

  • Worldwide kinematic survey services for
  • Vehicle Driving Simulation and Driving Simulators
  • Race track simulation
  • High-end Surface models of (crg-projects)
  • race tracks
  • Proving grounds, test areas and special tracks

with multiple resolutions

  • Public roads

What we are doing ...

Examples

  • Approx. 1200 km of kinematic test and race track surveys for generating precise high-

resolution road surface models for digital vehicle simulation and testing

  • Large projects like
  • Capture of all mountain roads in Bavaria
  • Capture of all public roads in Lower Saxony in 2013 (approx. 35.000 km)
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3D Mapping Solutions GmbH • Raiffeisenstrasse 16 • 83607 Holzkirchen • www.3d-mapping.de • info@3d-mapping.de

  • Mobile survey system designed for road

corridor mapping

  • Calibrated sensor platform
  • Object data acquisition based on:
  • Precise position and orientation

determination for the moving sensor platform

  • Complementary sensor technology like

cameras and laser scanners

  • Post mission data processing

MoSES - Kinematic Road Mapping System

  • 8 Cameras
  • Up to 4 high Resolution Laser Scanners
  • 1 Mill. Points per second
  • Below 1 mm accuracy per point
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3D Mapping Solutions GmbH • Raiffeisenstrasse 16 • 83607 Holzkirchen • www.3d-mapping.de • info@3d-mapping.de

Example for a kinematic 3D Laser Scanner Point Cloud

Laser scanner point cloud (raw data) consists of:

  • 3D coordinates for each point
  • plus reflectivity of the

target surface

  • All vehicle movements are

fully compensated.

  • 1 million points per second per scanner lead to

an exact digitalisation of the road surface with a point density of more than 3000 points per square meter.

:Scanner data taken along Ludwigstraße in Munich

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3D Mapping Solutions GmbH • Raiffeisenstrasse 16 • 83607 Holzkirchen • www.3d-mapping.de • info@3d-mapping.de

Georeferenced, digital Image Documentation

  • Documentation of road

corridor and road surface

  • Each image exactly

georeferenced, calibrated and ready for photogrammetric object survey with our software 3D Road View.

  • Multiple cameras (currently

up to 10) with various possibilities of mounting and combination. The camera view for all cameras is flexible and may be adjusted by project.

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3D Mapping Solutions GmbH • Raiffeisenstrasse 16 • 83607 Holzkirchen • www.3d-mapping.de • info@3d-mapping.de

Race track example

Example: scanner data along the Nürburgring Nordschleife

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3D Mapping Solutions GmbH • Raiffeisenstrasse 16 • 83607 Holzkirchen • www.3d-mapping.de • info@3d-mapping.de

Generation of road axis as a reference for road surface simulation models, e.g. OpenCRG

  • Road Axis Length
  • 3D position + height
  • Orientation (azimuth)
  • Longitudinal Slope
  • Curvature and radius
  • Cross Slope
  • The curvature is

precisely derived by fitting of mathmatical road axis parameters (clothoids, curves, straight lines).

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3D Mapping Solutions GmbH • Raiffeisenstrasse 16 • 83607 Holzkirchen • www.3d-mapping.de • info@3d-mapping.de

Kinematic Engineering Surveying: Road Surface CRG – Profile Structure

  • Transversal profiles along the road axis
  • Flexible profile density
  • Flexible point density within each profile
  • 0,005 m (Driving Simulation)
  • 0,1 m – 0.5 m (Road

Reconstruction)

  • > 1 m (Road GIS)
  • The profile points form the grid of the

road surface DTM.

  • Data representation compatible to all

road planning or vehicle driving simulation software packages.

North [m] East [m]

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3D Mapping Solutions GmbH Talanger 4a 82041 Oberhaching www.3d-mapping.de info@3d-mapping.de

CRG example for Nürburgring Nordschleife

  • resulting DTM with regular grid (in this case 10 x 10 cm) and 0.1 mm height resolution
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3D Mapping Solutions GmbH Talanger 4a 82041 Oberhaching www.3d-mapping.de info@3d-mapping.de

CRG example for Nürburgring Nordschleife

  • resulting DTM with regular grid (in this case 10 x 10 cm) and 0.1 mm height resolution
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3D Mapping Solutions GmbH Talanger 4a 82041 Oberhaching www.3d-mapping.de info@3d-mapping.de

CRG example for Nürburgring Nordschleife

  • resulting DTM with regular grid (in this case 10 x 10 cm) and 0.1 mm height resolution
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3D Mapping Solutions GmbH • Raiffeisenstrasse 16 • 83607 Holzkirchen • www.3d-mapping.de • info@3d-mapping.de

CRG for race tracks and car test sites

:Example: scanner point cloud data of a Belgic Block test track

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3D Mapping Solutions GmbH Talanger 4a 82041 Oberhaching www.3d-mapping.de info@3d-mapping.de

CRG for race tracks and car test sites

  • Test track for vehicle dynamics testing
  • resulting DTM with regular grid 5 x 5 mm and 0.1 mm height resolution
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3D Mapping Solutions GmbH • Raiffeisenstrasse 16 • 83607 Holzkirchen • www.3d-mapping.de • info@3d-mapping.de

Generating textures as a basis for simulation

:Scanner data taken along a highway including a tunnel

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3D Mapping Solutions GmbH • Raiffeisenstrasse 16 • 83607 Holzkirchen • www.3d-mapping.de • info@3d-mapping.de

Generating textures as a basis for simulation

  • Textures may be derived from scanners, cameras or a combination of both by generating
  • Coloured point clouds
  • Images using the colour information of the scanners (greyscale) or cameras (colour)
  • Typically textures are generated as georeferenced image (GEO Tiff)
  • General format, which is supported by almost any application.
  • Georeferenced image means, that the 3D space is projected into an orthophoto.
  • Orthophotos are typically projected in z-direction on the earth surface, but may also be generated

for a complete tunnel section using a projection from tunnel centre.

  • Orthophotos for a track are split into sections, e.g. 10 m.
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3D Mapping Solutions GmbH Talanger 4a 82041 Oberhaching www.3d-mapping.de info@3d-mapping.de

Reflectivity of the scanner signal used as image information

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3D Mapping Solutions GmbH Talanger 4a 82041 Oberhaching www.3d-mapping.de info@3d-mapping.de

Orthophoto of the Road Surface

High resolution Orthophoto of the Nordschleife as texture for driving simulator environments

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3D Mapping Solutions GmbH Talanger 4a 82041 Oberhaching www.3d-mapping.de info@3d-mapping.de

Orthophoto of the Road Surface

High resolution Orthophoto of the Nordschleife as texture for driving simulator environments

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3D Mapping Solutions GmbH Talanger 4a 82041 Oberhaching www.3d-mapping.de info@3d-mapping.de

Orthophoto of the Road Surface

High resolution Orthophoto of the Nordschleife as texture for driving simulator environments

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3D Mapping Solutions GmbH Talanger 4a 82041 Oberhaching www.3d-mapping.de info@3d-mapping.de

Orthophoto of the Road Surface

High resolution Orthophoto as texture for driving simulator environments

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3D Mapping Solutions GmbH • Raiffeisenstrasse 16 • 83607 Holzkirchen • www.3d-mapping.de • info@3d-mapping.de

  • Complete determination of all geometric
  • bjects, such as axes, environment,

markings etc.

  • 3D Mapping interface e.g. for OpenDrive
  • Geometry is transferred to simulator

format, e.g. OpenDrive including the “logic”

  • f the axes, which is the driving path

connections, modelling of intersections etc.

Generating of digital Map Data, e.g. for Driving Simulators

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3D Mapping Solutions GmbH • Raiffeisenstrasse 16 • 83607 Holzkirchen • www.3d-mapping.de • info@3d-mapping.de

Generating of digital Map Data, e.g. for Driving Simulators

Example: vector data extraction for automatic driving

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3D Mapping Solutions GmbH • Raiffeisenstrasse 16 • 83607 Holzkirchen • www.3d-mapping.de • info@3d-mapping.de

Generating of digital Map Data, e.g. for Driving Simulators

Example: intersection modelling in OpenDrive

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3D Mapping Solutions GmbH • Raiffeisenstrasse 16 • 83607 Holzkirchen • www.3d-mapping.de • info@3d-mapping.de

Generating of digital Map Data, e.g. for Driving Simulators

Example: intersection modelling in OpenDrive

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3D Mapping Solutions GmbH • Raiffeisenstrasse 16 • 83607 Holzkirchen • www.3d-mapping.de • info@3d-mapping.de

Driving Simulator example

Example for a driving simulator implementation: Nordschleife of rFactorPro

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3D Mapping Solutions GmbH • Raiffeisenstrasse 16 • 83607 Holzkirchen • www.3d-mapping.de • info@3d-mapping.de

  • 3D Mapping has a third system option (MoSES III)
  • Platform can be mounted on variable vehicles,

so new applications get possible

  • Survey of off-road tracks
  • Survey of special tracks
  • Helicopter surveys
  • Wide tracks
  • Extremely rough situations
  • Platform can be shipped worldwide

New developments on the technical side to generate crg‘s

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3D Mapping Solutions GmbH • Raiffeisenstrasse 16 • 83607 Holzkirchen • www.3d-mapping.de • info@3d-mapping.de

Thank you for your attention! more information on: www.3d-mapping.de