| Summary: | The global positioning system real-time kinematic (GPS-RTK) instrument is a commonly used instrument to obtain GPS coordinates in cadastral surveying, but its use is limited to unshielded environments. This study proposes a new method based on a visual simultaneous localization and mapping (SLAM) algorithm that uses a stereo-camera to replace traditional methods. The benefits of our method are a higher measurement efficiency, fewer required professionals, and fewer restrictions on the operating environment compared with the traditional RTK and total station method. First, we propose a robust non-planar camera calibration algorithm that uses three non-planar chessboards to obtain intrinsic parameters of a stereo-camera to improve the accuracy of the measurement. Second, we propose a detailed algorithm that uses a stereo-camera and known GPS coordinates to obtain unknown GPS coordinates. Using experiments, we demonstrated the effectiveness and stability of our method to provide accurate GPS coordinates.
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