Title :

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

Author(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]

Conference title :

2007 IEEE Intelligent Vehicles Symposium (IV'07)

City :

Istanbul

Country :

Turquie

Start date of the conference :

2007-06-14

Journal title :

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

Publisher :

IEEE

Publication date :

2007

Keyword(s) :

Automated Vehicles
Information Fusion
Vehicle Environment Perception

HAL domain(s) :

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

English abstract : [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 ...
Show more >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.Show less >

Language :

Anglais

Peer reviewed article :

Oui

Audience :

Internationale

Popular science :

Non

Comment :

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