Abstract:
This paper tackles the problem of vehicle's geo-localisation in urban areas. For this purpose, global positioning system (GPS) receiver is the main sensor. But the use of...Show MoreMetadata
Abstract:
This paper tackles the problem of vehicle's geo-localisation in urban areas. For this purpose, global positioning system (GPS) receiver is the main sensor. But the use of GPS alone is not sufficient in many urban environments. GPS has so to be helped with dead-reckoned sensors, map data, cameras, range finder ... In this paper, we propose a novel approach to compute observation of the absolute pose of the vehicle to back up GPS and to compensate the drift of dead-reckoned sensors. This approach uses a new source of information which is a 3D city model i.e. 3D city model of the environment of vehicle evolution. This 3D city model is managed in real-time by a 3D geographical information system (3D-GIS). The pose's observation is constructed by using an on-board horizontal laser scanner which provides a set of distances. This set of distances (laser scan data) is matched with depth information (virtual laser scan data), provided by 3D-GIS, using iterative closest point algorithm (ICP). Experimental results performed using real data illustrate the performances of the proposed approach.
Published in: 2009 International Conference on Advanced Robotics
Date of Conference: 22-26 June 2009
Date Added to IEEE Xplore: 28 July 2009
ISBN Information:
Conference Location: Munich, Germany
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- IEEE Keywords
- Index Terms
- Navigation ,
- Urban Areas ,
- Laser Scanning ,
- Global Positioning System ,
- Intelligent Vehicles ,
- Positioning System ,
- Geographic Information System ,
- Scan Data ,
- Depth Information ,
- Set Of Distances ,
- Iterative Closest Point ,
- Virtual Data ,
- Iterative Closest Point Algorithm ,
- Laser Scanning Data ,
- New Sources Of Information ,
- Image Pixels ,
- Focal Length ,
- Viewing Angle ,
- Depth Images ,
- 3D Coordinates ,
- Virtual Camera ,
- Pose Estimation ,
- Advanced Driver Assistance Systems ,
- 3D Point ,
- Distance In Meters ,
- Extrinsic Parameters ,
- Obstacle Avoidance ,
- Unicycle ,
- Local Frame ,
- Scan Pairs
- Author Keywords
Keywords assist with retrieval of results and provide a means to discovering other relevant content. Learn more.
- IEEE Keywords
- Index Terms
- Navigation ,
- Urban Areas ,
- Laser Scanning ,
- Global Positioning System ,
- Intelligent Vehicles ,
- Positioning System ,
- Geographic Information System ,
- Scan Data ,
- Depth Information ,
- Set Of Distances ,
- Iterative Closest Point ,
- Virtual Data ,
- Iterative Closest Point Algorithm ,
- Laser Scanning Data ,
- New Sources Of Information ,
- Image Pixels ,
- Focal Length ,
- Viewing Angle ,
- Depth Images ,
- 3D Coordinates ,
- Virtual Camera ,
- Pose Estimation ,
- Advanced Driver Assistance Systems ,
- 3D Point ,
- Distance In Meters ,
- Extrinsic Parameters ,
- Obstacle Avoidance ,
- Unicycle ,
- Local Frame ,
- Scan Pairs
- Author Keywords