DEVELOPMENT OF A MOBILE ROBOT SPATIAL DATA ACQUISITION SYSTEM OOI WEI HAN MASTER OF SCIENCE UNIVERSITI PUTRA MALAYSIA

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1 DEVELOPMENT OF A MOBILE ROBOT SPATIAL DATA ACQUISITION SYSTEM By OOI WEI HAN MASTER OF SCIENCE UNIVERSITI PUTRA MALAYSIA 2006

2 DEVELOPMENT OF A MOBILE ROBOT SPATIAL DATA ACQUISITION SYSTEM By OOI WEI HAN Thesis Submitted to the School of Graduate Studies, Universiti Putra Malaysia, in Fulfilment of the Requirement for the Degree of Master of Science July 2006

3 SPECIAL DEDICATION All praise and glory are expressed to almighty Lord for His blessings and strengthen me to complete this thesis. Utmost gratitude to my parents, Ooi Ah Seng and Kee Gaik Tiang for their patience, faithfully and undying love for my success. Beloved brother and sisters, Ming Kee, Wei Ping, Ming Vee for inspiring in me all the time and Finally, to my dearest Lover, Foo Yen See, who is always on my side, never ending support, patience and encouragement.

4 Abstract of thesis presented to the Senate of Universiti Putra Malaysia in fulfilment of the requirement for the degree of Master of Science DEVELOPMENT OF A MOBILE ROBOT SPATIAL DATA ACQUISITION SYSTEM By OOI WEI HAN July 2006 Chairman Faculty : Professor Shattri Mansor, PhD : Engineering This research focused on developing a spatial data acquisition system using mobile robot technology and close-range photogrammetry technique without ground control points (G.C.Ps) on the images. Image capturing of object features and their planimetry positioning were acquired by a mobile robot and applied to create 3D plans which include contour plan, slope plan and location plan. PhotoModeler, Matlab programming and ArcView GIS software were used in the processing to create the detail plans. Additionally, the accuracy of mobile robot system was thoroughly tested and validated in real-world condition. Results showed that the coordinate accuracies computed from robot-based images in non-g.c.ps were achieved within a range between 1.8 cm and 99 cm.

5 Abstrak tesis yang dikemukakan kepada Senat Universiti Putra Malaysia sebagai memenuhi keperluan untuk ijazah Master Sains PEMBANGUNAN SISTEM MENPEROLEHI DATA SPATIAL DENGAN MENGGUNAKAN ROBOT MUDAH ALIH Oleh OOI WEI HAN Julai 2006 Pengerusi Fakulti : Profesor Shattri Mansor, PhD : Kejuruteraan Tesis ini berfokus dalam membangunkan satu sistem memperolehi spatial data dengan melibatkan teknologi robot dan teknik fotogrammetri dengan tanpa berpandukan kepada sebarang titik kawalan dalam imej. Robot digunakan untuk pengumpulan spatial data serta menentukan kedudukan lokasi objek dalam imej yang diperolehi. Koordinatkoordinat objek ini digunakan untuk memplotkan pelan-pelan 3-D termasuk pelan kontor, pelan cerun serta pelan lokasi. Semua proses dan hasil menggunakan perisianperisian seperti PhotoModeler, Matlab dan ArcView. Ujian-ujian ketepatan terhadap sistem ini telah dilaksanakan sepenuhnya dalam situasi yang sebenar. Keputusan yang diperolehi menunjukkan nilai ketepatan bagi koordinat-koordinat objek imej robot berada dalam lingkungan 1.8 cm dan 99 cm.

6 ACKNOWLEDGEMENTS With a deep sense of gratitude the author would like to acknowledge his project supervisory team Prof. Dr. Shattri Mansor and Assoc. Prof. Dr. Abdul Rahman Ramli for their invaluable guidance, constructive suggestions and encouragement throughout the duration of this project. Sincere thanks are extended to Mr. Saufi from Intelligent System and Robotics Laboratory, Institute of Advanced Technology, UPM for providing the mobile robot and their valuable guidance and support in the technical part. Thanks are also extended to the Mr. Maswadi from Geomatic Laboratory, Faculty Engineering for providing the GPS and survey equipments used in this study. Special thanks extended to Mr. Loh Koh Fook and Lawal Billa for their valuable ideas, suggestions and encouragements. Gratitude also to Faisal, Omar, Mohamed Maiyas, Akif, Shalabi, Nish and others members in the Spatial Modeling Laboratory for their guidance and encouragements. Lastly, the author would like to express his sincere appreciation to his family for their undying love, patience, encouragement and continues supports during the course of study.

7 I certify that an Examination Committee has met on 3 rd July 2006 to conduct the final examination of Ooi Wei Han on his Master of Science thesis entitled Development of a Mobile Robot Spatial Data Acquisition System in accordance with Universiti Pertanian Malaysia (Higher Degree) Act 1980 and Universiti Pertanian Malaysia (Higher Degree) Regulations The Committee recommends that the candidate be awarded the relevant degree. Members of the Examination Committee are as follows: Abdul Rashid Mohamed Shariff, PhD Associate Professor Faculty of Engineering Universiti Putra Malaysia (Chairman) Ahmad Rodzi Mahmud, PhD Associate Professor Faculty of Engineering Universiti Putra Malaysia (Internal Examiner) Helmi Zulhadi Mohd Shafri, PhD Lecturer Faculty of Engineering Universiti Putra Malaysia (Internal Examiner) Mazlan Hashim, PhD Professor Faculty of Science and Geoinformation Engineering Universiti Teknologi Malaysia (External Examiner)

8 This thesis submitted to the Senate of Universiti Putra Malaysia and has been accepted as fulfilment of the requirement for the degree of Master of Science. The members of the Supervisory Committee as follows: Shattri Mansor, PhD Professor Faculty of Engineering Universiti Putra Malaysia (Chairman) Abdul Rahman Ramli, PhD Associate Professor Faculty of Engineering Universiti Putra Malaysia (Member) AINI IDERIS, PhD Professor/Dean School of Graduate Studies Universiti Putra Malaysia Date:

9 DECLARATION I hereby declare that the thesis is based on my original work except for quotations and citations which have been duly acknowledged. I also declared that it has not been previously or concurrently submitted for any other degree at UPM or other institutions. OOI WEI HAN Date:

10 TABLE OF CONTENTS Page DEDICATION ABSTRACT ABSTRAK ACKNOWLEDGEMENTS APPROVAL DECLARATION LIST OF TABLES LIST OF FIGURES LIST OF ABBREVIATIONS ii iii iv v vi viii xi xii xiv CHAPTER 1 INTRODUCTION General Problem Statement Objectives Thesis Scope Thesis Organization LITERATURE REVIEW Historical Overview Related Work Developed Robotic Spatial Data Acquisition System Robotic Mapping with Photogrammetry Application of Photogrammetry Ground Control Points (G.C.Ps) The Use of GPS in Positioning GPS Errors Transformation Coordinates GPS The Use of Non-Metric Camera Geographical Information System (GIS) Summary METHODOLOGY Study Area System Description Materials Employed ActivMedia Mobile Robot PhotoModeler Pro 5.0 software Matlab7.0 software ArcView 3.0 software Flow Chart 3.12

11 3.5 Field work Laboratory Work Camera Calibration Coordinates Transformation Distance Between Location Robot Exterior Orientation Image Points Coordinates on Robot-Based Images Process to produce 3D plans RESULTS AND DISCUSSIONS Introduction Check Points Test Test Test Comparison Between 3 Tests Final Output of the Study CONCLUSIONS AND RECOMMENDATIONS Conclusions Recommendations 5.2 REFERENCES R.1 APPENDICES A.1 BIODATA OF THE AUTHOR B.1

12 LIST OF TABLES Table Page 2.1 Advantages of non-metric camera Cassini Soldner Coordinates System for the established known points and its bearing and distances Interior parameters of camera robot by PhotoModeler GeoCalc freeware Exterior orientation of the camera Information of check points Coordinates mobile robot and its rotation values from PhotoModeler Processed point coordinates using G.C.Ps at 3 meter distances Processed point coordinates using G.C.Ps at 5 meter distances Processed point coordinates using G.C.Ps at 6 meter distances Accuracies assessment of point coordinates using PM with G.C.Ps Coordinates mobile robot and its rotation values from PhotoModeler Processed point coordinates without G.C.Ps at 3 meter distances Processed point coordinates without G.C.Ps at 5 meter distances Processed point coordinates without G.C.Ps at 6 meter distances Accuracies assessment of point coordinates using PM with G.C.Ps Processed point coordinates from developed algorithm in 3m distances Processed point coordinates from developed algorithm in 5m distances Processed point coordinates from developed algorithm in 6m distances Accuracies assessment of coordinate points using PM and developed algorithm without any G.C.Ps. 4.17

13 LIST OF FIGURES Figure Page 2.1 Rotation of the three axes Central perspective of A show the three dimensional object coordinates and homologous point a in the projection plane. It shown main point P, perspective center O, f and the collinearity of A, O and a A. G.C.Ps on aerial photograph image GPS carrier phase positioning Study area in UPM Known points inside the study area Conventional method for establishing check points Control Screen in base station System s configuration ActivMedia Mobile Robot GPS stand receiver Schematic diagram showing overall procedure of the study A set of images acquired at 3m distances A set of images acquired at 5m distances A set of images acquired at 6m distances Calibration grid provided by PM Relations between object points and camera positions in 3D view The geometry of the camera and the various coordinate systems Image coordinates in Matlab programming software Information of location points Eight check points established on target objects 4.2

14 4.2 G.C.Ps on the images G.C.Ps were set on point 1, 4 and 8 in PhotoModeler Line graphs show the coordinate accuracies at different meters using PhotoModeler with G.C.Ps Setting on PhotoModeler in test without G.C.Ps Line graphs show the coordinate accuracies at different meters using PhotoModeler without G.C.Ps Line graphs show the coordinate accuracies at different meters using PhotoModeler and developed algorithm Three tests comparison on coordinates X, Y and Z in 3 m distances Three tests comparison on coordinates X, Y and Z in 5 m distances Three tests comparison on coordinates X, Y and Z in 6 m distances Linking database between Excel and ArcView Identity points test Analysis points in digital plan Site plan Location plan Contour plan D slope plan 4.30

15 LIST OF ABBREVIATIONS 3D AS CRP DoD ESRI GPS GIS GCP INS IMU LSE MRT MMS PM PPS PRN RTK RSO SA SPS 3 Dimensional Anti Spoofing Close Range Photogrammetry Department of Defense Environmental System Research Institute Global Positioning System Geographical Information System Ground Control Point Inertial Navigation System Inertial Measurement Unit Least Square Adjustment Malayan Revised Triangulation System Mobile Mapping System PhotoModeler software Precise Positioning Services Pseudo Random Noise Real Time Kinematic Rectified Skew Orthomorphic System Selective Availability Standard Positioning Services WGS84 World Geodetic System 1984