Title :

Multi-sensors data fusion using dynamic bayesian network for robotised vehicle geo-localisation

Author(s) :

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

Conference title :

11th International Conference on Information Fusion

City :

Cologne

Country :

Allemagne

Start date of the conference :

2008-07-01

Publisher :

IEEE

Publication date :

2008

English keyword(s) :

Geo-localisation
Virtual 3D City Model
3D Geographical Information System (3D-GIS)
Global Positioning System (GPS)
Vision
Dynamic Bayesian Network (DBN)
2D/3D Matching

HAL domain(s) :

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

English abstract : [en]

This paper presents an outdoor geolocalisation method, which integrates several information sources: measurements from GPS, incremental encoders and gyroscope, 2D images provided by an on-board camera and a virtual 3D city ...
Show more >This paper presents an outdoor geolocalisation method, which integrates several information sources: measurements from GPS, incremental encoders and gyroscope, 2D images provided by an on-board camera and a virtual 3D city model. A 3D cartographical observation of the vehicle pose is constructed. This observation is based on the matching between the acquired 2D images and the virtual 3D city model. This estimation is especially useful during long GPS outages to correct the drift of the only dead-reckoning localisation or when the GPS quality is deteriorated due to multi-path, satellites masks and so on particularly in urban environments. Moreover, the various sensors measurements are fused in Dynamic Bayesian Network formalism in order to provide a continuous estimation of the pose.Show less >

Language :

Anglais

Peer reviewed article :

Oui

Audience :

Internationale

Popular science :

Non

Collections :

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

Source :

Harvested from HAL