High-end test-track digitalization as a basis for precise road modelling including textures Dr.-Ing. Gunnar Gräfe 3D Mapping Solutions GmbH
Example for a kinematic 3D Laser Scanner Point Cloud Scanner data taken along a high-speed test track 3D Mapping Solutions GmbH • Raiffeisenstrasse 16 • 83607 Holzkirchen • www.3d-mapping.de • info@3d-mapping.de
What we are doing ... • 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 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) 3D Mapping Solutions GmbH • Raiffeisenstrasse 16 • 83607 Holzkirchen • www.3d-mapping.de • info@3d-mapping.de
MoSES - Kinematic Road Mapping System • 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 • 8 Cameras • Up to 4 high Resolution Laser Scanners • 1 Mill. Points per second • Below 1 mm accuracy per point 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 : Scanner data taken along Ludwigstraße in Munich surface with a point density of more than 3000 points per square meter. 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. 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 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). 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 North [m] 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. East [m] 3D Mapping Solutions GmbH • Raiffeisenstrasse 16 • 83607 Holzkirchen • 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 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 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 3D Mapping Solutions GmbH Talanger 4a 82041 Oberhaching 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 3D Mapping Solutions GmbH • Raiffeisenstrasse 16 • 83607 Holzkirchen • 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 3D Mapping Solutions GmbH Talanger 4a 82041 Oberhaching www.3d-mapping.de info@3d-mapping.de
Generating textures as a basis for simulation : Scanner data taken along a highway including a tunnel 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. 3D Mapping Solutions GmbH • Raiffeisenstrasse 16 • 83607 Holzkirchen • www.3d-mapping.de • info@3d-mapping.de
Reflectivity of the scanner signal used as image information 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 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 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 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 3D Mapping Solutions GmbH Talanger 4a 82041 Oberhaching www.3d-mapping.de info@3d-mapping.de
Generating of digital Map Data, e.g. for Driving Simulators • Complete determination of all geometric objects, 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” of the axes, which is the driving path connections, modelling of intersections etc. 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 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 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 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 3D Mapping Solutions GmbH • Raiffeisenstrasse 16 • 83607 Holzkirchen • www.3d-mapping.de • info@3d-mapping.de
New developments on the technical side to generate crg‘s • 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 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 3D Mapping Solutions GmbH • Raiffeisenstrasse 16 • 83607 Holzkirchen • www.3d-mapping.de • info@3d-mapping.de
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