Titre :

Localisation in urban environment using GPS and INS aided by monocular vision system and 3D geographical model

Auteur(s) :

Cappelle, Cindy [Auteur]
Laboratoire d'Automatique, Génie Informatique et Signal [LAGIS]
El Badaoui El Najjar, Maan [Auteur]
Systèmes Tolérants aux Fautes [STF]
Autonomous intelligent machine [MAIA]
Pomorski, Denis [Auteur]
Systèmes Tolérants aux Fautes [STF]
Charpillet, François [Auteur]
Autonomous intelligent machine [MAIA]

Titre de la manifestation scientifique :

2007 IEEE Intelligent Vehicles Symposium (IV'07)

Ville :

Istanbul

Pays :

Turquie

Date de début de la manifestation scientifique :

2007-06-14

Titre de la revue :

2007 IEEE Intelligent Vehicles Symposium, June 13-15, 2007, Hilton Hotel, Istanbul, Turkey

Éditeur :

IEEE

Date de publication :

2007

Mot(s)-clé(s) :

Automated Vehicles
Information Fusion
Vehicle Environment Perception

Discipline(s) HAL :

Informatique [cs]/Automatique
Informatique [cs]/Robotique [cs.RO]

Résumé en anglais : [en]

In this paper, a geo-localisation method was proposed, using GPS, INS, monovision camera and a new geo-information source, which is the 3D cartographical model. A 3D-GIS (Geographical Information System) has been developed ...
Lire la suite >In this paper, a geo-localisation method was proposed, using GPS, INS, monovision camera and a new geo-information source, which is the 3D cartographical model. A 3D-GIS (Geographical Information System) has been developed to manipulate and navigate in a precise 3D cartographical model database. To have a continuous pose estimation, an EKF has been implemented to fuse GPS and INS. To integrate the 3D cartographical model information, a 3D cartographical observation has been constructed using 2D/3D images matching between real image captured by the embedded camera and virtual images provided by the 3D-GIS. A real data acquisition platform has been developed to test and validate the proposed method.Lire moins >

Langue :

Anglais

Comité de lecture :

Oui

Audience :

Internationale

Vulgarisation :

Non

Commentaire :

Scheduled for presentation during the Poster Session "Poster PTP" (ThE1)

Collections :

• Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189

Source :

Harvested from HAL