Road ortho-image generation based on accurate vehicle trajectory estimation by GPS Doppler

This paper proposes a novel technique to generate accurate road ortho-images using low-cost sensors (single frequency GPS, speed sensor and MEMS yaw rate gyro). Ortho-images are data incorporated into accurate digital maps. Our proposal should contribute to reduction in production costs of accurate digital maps. The most striking feature of our proposal is vehicle trajectory estimation using GPS Doppler, for road image mosaicing. We realize accurate trajectory and heading angle estimation by integrating GPS Doppler and yaw-rate gyro. This enables creation of ortho-images with a combination of devices less expensive than the conventionally used ones. A comparison with commercial road ortho-images shows that our proposed technique can realize the same level of accuracy.