Online Dynamic Network solver

Davide A. Cucci

davide.cucci@gmail.com

With the collaboration and support of

Jan Skaloud

Geodetic Engineering Laboratory (TOPO)
Ecole Polytechnique Fédérale de Lausanne, Switzerland
jan.skaloud@epfl.ch

| Documentation | Report an issue |

| dn rev: 59eb579 | ROAMFREE rev: 3abac19 | built on 04-11-2025 14:42:27 |

Measurements

A single .zip file containing all input files must be provided below.

                Files interpred in Global (WGS84) coordinate system by default. If data is expressed in 'Local' frame, please change corresponding setting under 'Processing options'
              

            

            

              

            

            

              

                
System configuration (optional)

                
A saved configuration can be restored providing a file below.

                

                  
                  

                    
                    
                  

                  

                    

                  

                

                

              

            

          

        

      

      

        
        

          

            

              

                
Coordinate System (In/Out)

                
Depending on input data, select if either local or global frame should be used for fusion.

                

                  
                  

                    
                    
                  

                

                

                  Warning: only use 'Local' when fusing low quality IMU
                

              

            

            

              

            

            

              

                
IMU pre-integration

                
Number of IMU epochs to pre-integrate

                

                  
                  
                

              

            

            

              

            

            

              

                
Trajectory initialization

                

                  
If an initial guess for the trajectory is not provided, the orientation of the body frame with respect to the vehicle should be provided.

                  

                    
                    

                      
                      
                    

                  

                

                

                  
Initial guess provided, automatic initialization disabled.

                

              

            

          

        

      

    

    

      

        
        

          

            

              
              

                

                  
Lever arm (body -> Antenna, i.e., Antennab)

                  

                    

                      

                        
                        
                      

                    

                    

                      

                        
                        
                      

                    

                    

                      

                        
                        
                      

                    

                  

                  

                    

                      
                    

                  

                  

                    
Lever arm uncertainty

                    

                      

                        

                          
                          
                        

                      

                      

                        

                          
                          
                        

                      

                      

                        

                          
                          
                        

                      

                    

                  

                  
Precision (1-sigma)

                  

                    

                      

                        

                          
                          
                        

                      

                      

                        

                          
                          
                        

                      

                      

                        

                          
                          
                        

                      

                    

                  

                  

                    
Precision provided in the input file

                  

                  

                    

                      
                    

                  

                  

                    

                      

                        
Usefull for terrestrial & indoor applications with drifting position estimation (e.g. visual odometry)

                        

                        

                          
                          
                        

                      

                      

                        

                      

                    

                  

                

                

                  
Lever arm (body -> IMU, i.e., IMUb)

                  

                    

                      

                        
                        
                      

                    

                    

                      

                        
                        
                      

                    

                    

                      

                        
                        
                      

                    

                  

                  

                    

                      
                    

                  

                  

                    
Lever arm uncertainty

                    

                      

                        

                          
                          
                        

                      

                      

                        

                          
                          
                        

                      

                      

                        

                          
                          
                        

                      

                    

                  

                  
Boresight (RbIMU) [unit quaternion]

                  

                    

                      

                        
                        
                      

                    

                    

                      

                        
                        
                      

                    

                    

                      

                        
                        
                      

                    

                    

                      

                        
                        
                      

                    

                  

                  

                    

                      
                    

                  

                  

                    
Boresight uncertainty

                    

                      

                        

                          
                          
                        

                      

                      

                        

                          
                          
                        

                      

                      

                        

                          
                          
                        

                      

                    

                  

                  
Accelerometer

                  

                    

                      

                        
                        

                          
                          
                        

                      

                      
White Noise

                      

                        
                        
                      

                      

                        
First order Gauss-Markov 1

                        

                          

                            
                            
                          

                        

                        

                          

                            
                            
                          

                        

                      

                      

                        
First order Gauss-Markov 2

                        

                          

                            
                            
                          

                        

                        

                          

                            
                            
                          

                        

                      

                      

                        
First order Gauss-Markov 3

                        

                          

                            
                            
                          

                        

                        

                          

                            
                            
                          

                        

                      

                    

                    

                      

                    

                  

                  
Gyroscope

                  

                    

                      

                        
                        

                          
                          
                        

                      

                      
White Noise

                      

                        
                        
                      

                      

                        
First order Gauss-Markov 1

                        

                          

                            
                            
                          

                        

                        

                          

                            
                            
                          

                        

                      

                      

                        
First order Gauss-Markov 2

                        

                          

                            
                            
                          

                        

                        

                          

                            
                            
                          

                        

                      

                      

                        
First order Gauss-Markov 3

                        

                          

                            
                            
                          

                        

                        

                          

                            
                            
                          

                        

                      

                    

                    

                      

                    

                  

                

                

                  

                    
Lever arm (body -> Camera, i.e., Camerab)

                    

                      

                        

                          
                          
                        

                      

                      

                        

                          
                          
                        

                      

                      

                        

                          
                          
                        

                      

                    

                    

                      

                        
                      

                    

                    

                      
Lever arm uncertainty

                      

                        

                          

                            
                            
                          

                        

                        

                          

                            
                            
                          

                        

                        

                          

                            
                            
                          

                        

                      

                    

                    
Boresight (RbCamera) [unit quaternion]

                    

                      

                        

                          
                          
                        

                      

                      

                        

                          
                          
                        

                      

                      

                        

                          
                          
                        

                      

                      

                        

                          
                          
                        

                      

                    

                    

                      

                        
                      

                    

                    

                      
Boresight uncertainty

                      

                        

                          

                            
                            
                          

                        

                        

                          

                            
                            
                          

                        

                        

                          

                            
                            
                          

                        

                      

                    

                    

                      

                        
Intrinsic camera calibration

                        

                          

                            

                              
                              
                            

                          

                          

                            

                              
                              
                            

                          

                        

                        

                          

                            

                              
                              
                            

                          

                          

                            

                              
                              
                            

                          

                          

                            

                              
                              
                            

                          

                        

                        

                          

                            
                          

                        

                        

                          
Intrinsic camera calibration uncertainty

                          

                            

                              

                                
                                
                              

                            

                            

                              

                                
                                
                              

                            

                            

                              

                                
                                
                              

                            

                          

                        

                      

                      

                        

                      

                    

                    
Lens distortion

                    

                      

                        

                          
                          
                        

                      

                      

                        

                          
                          
                        

                      

                      

                        

                          
                          
                        

                      

                      

                        

                          
                          
                        

                      

                    

                    

                      

                        

                          
                          
                        

                      

                      

                        

                          
                          
                        

                      

                      

                        

                          
                          
                        

                      

                      

                        

                          
                          
                        

                      

                    

                    

                      

                        
                      

                    

                    

                      
Lens distortion uncertainty

                      

                        

                          

                            
                            
                          

                        

                        

                          

                            
                            
                          

                        

                        

                          

                            
                            
                          

                        

                        

                          

                            
                            
                          

                        

                      

                      

                        

                          

                            
                            
                          

                        

                        

                          

                            
                            
                          

                        

                        

                          

                            
                            
                          

                        

                        

                          

                            
                            
                          

                        

                      

                    

                    
Image measurements precision (1-sigma)

                    

                      

                        

                          
                          
                        

                      

                    

                    
Ground Control Points (selected) / Checkpoints

                    
Selectd rows in the table below will be used as GCPs.

                    

                      

                        

                      

                    

                    
Image precision (1-sigma)

                    

                      

                        

                          
                          
                        

                      

                    

                    
Precision on ground (1-sigma)

                    

                      

                        

                          
                          
                        

                      

                      

                        

                          
                          
                        

                      

                      

                        

                          
                          
                        

                      

                    

                  

                  

                    
Tie Points data not provided

                  

                

                

                  

                    
Lever arm (body -> LiDAR, i.e., LiDARb)

                    

                      

                        

                          
                          
                        

                      

                      

                        

                          
                          
                        

                      

                      

                        

                          
                          
                        

                      

                    

                    

                      

                        
                      

                    

                    

                      
Lever arm uncertainty

                      

                        

                          

                            
                            
                          

                        

                        

                          

                            
                            
                          

                        

                        

                          

                            
                            
                          

                        

                      

                    

                    
Boresight (RbLiDAR) [unit quaternion]

                    

                      

                        

                          
                          
                        

                      

                      

                        

                          
                          
                        

                      

                      

                        

                          
                          
                        

                      

                      

                        

                          
                          
                        

                      

                    

                    

                      

                        
                      

                    

                    

                      
Boresight uncertainty

                      

                        

                          

                            
                            
                          

                        

                        

                          

                            
                            
                          

                        

                        

                          

                            
                            
                          

                        

                      

                    

                    
Precision

                    

                      

                        

                          
                          
                        

                      

                    

                    

                      

                        
                      

                    

                    

                      

                        

                          
Usefull when point cloud GSD is large or outliers remain in the set of correspondences

                          

                          

                            
                            
                          

                        

                        

                          

                        

                      

                    

                  

                  

                    
Lidar data not provided

                  

                

              

            

          

        

      

    

    

      

        
        

          

            
Input status

            

            
Time selection

            

              

                

                  
                  
                

              

              

                

                  
                  
                

              

              

                
              

            

            
Preview

            

              

            

            
Run the processing

            

              
            

          

        

      

      

        
        

          

            
Processing status

            

            

              

                
              

            

            

              
DN output

              

            

            

            

            

            

            

            

            

            

          

        

      

      

        
        

          

            

              

                
              

              

                
                  
                  Download system configuration