Intelligent Geolocalization in Urban Areas Using Global Positioning Systems, Three-Dimensional Geographic Information Systems, and Vision
Identifieur interne : 002E89 ( Main/Exploration ); précédent : 002E88; suivant : 002E90Intelligent Geolocalization in Urban Areas Using Global Positioning Systems, Three-Dimensional Geographic Information Systems, and Vision
Auteurs : Cindy Cappelle [France] ; Maan El Badaoui El Najjar [France] ; Denis Pomorski [France] ; François Charpillet [France]Source :
- Journal of Intelligent Transportation Systems: Technology, Planning, and Operations [ 1547-2450 ] ; 2010.
Abstract
This article tackles the problem of a vehicle's geolocalization in urban areas. For this purpose, Global Positioning System (GPS) receiver is the main sensor. However, the use of GPS alone is not sufficient in many urban environments. GPS has to be helped with dead-reckoned sensors, map data, and cameras. A novel observation of the absolute pose of the vehicle is proposed to back up GPS and the drift of dead-reckoned sensors. This approach uses a new source of information that is a geographical 3-dimensional (3D) model of the environment in which the vehicle navigates. This virtual 3D city model is managed in real time by a 3D geographical information system (3D GIS). This pose's observation is constructed by matching the virtual image provided by the 3D GIS and the real image acquired by an onboard camera. An extended Kalman filter combines the sensors measurements to produce an estimation of the vehicle's pose. Experimental results using data from an odometer, a gyroscope, a GPS receiver, a camera, and an accurate geographical 3D model of the environment illustrate the developed approach.
Url:
Affiliations:
- France
- Franche-Comté, Grand Est, Lorraine (région)
- Belfort, Metz, Nancy
- Université de Lorraine, Université de technologie de Belfort-Montbéliard
Links toward previous steps (curation, corpus...)
- to stream Hal, to step Corpus: 002B82
- to stream Hal, to step Curation: 002B82
- to stream Hal, to step Checkpoint: 002828
- to stream Main, to step Merge: 003316
- to stream Main, to step Curation: 002E89
Le document en format XML
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Grand Est</orgName><desc><address><addrLine>615 rue du Jardin Botanique 54600 Villers-lès-Nancy</addrLine><country key="FR"></country></address><ref type="url">http://www.inria.fr/nancy</ref></desc><listRelation><relation active="#struct-300009" type="direct"></relation></listRelation></org></tutelle><tutelle active="#struct-300009" type="indirect"><org type="institution" xml:id="struct-300009" status="VALID"><orgName>Institut National de Recherche en Informatique et en Automatique</orgName><orgName type="acronym">Inria</orgName><desc><address><addrLine>Domaine de VoluceauRocquencourt - BP 10578153 Le Chesnay Cedex</addrLine><country key="FR"></country></address><ref type="url">http://www.inria.fr/en/</ref></desc></org></tutelle><tutelle active="#struct-423090" type="direct"><org type="department" xml:id="struct-423090" status="VALID"><orgName>Department of Complex Systems, Artificial Intelligence & Robotics</orgName><orgName type="acronym">LORIA - AIS</orgName><desc><address><country key="FR"></country></address><ref type="url">http://www.loria.fr/la-recherche-en/departements/complex-system-and-artificial-intelligence</ref></desc><listRelation><relation active="#struct-206040" type="direct"></relation><relation active="#struct-300009" type="indirect"></relation><relation active="#struct-413289" type="indirect"></relation><relation name="UMR7503" active="#struct-441569" type="indirect"></relation></listRelation></org></tutelle><tutelle active="#struct-206040" type="indirect"><org type="laboratory" xml:id="struct-206040" status="VALID"><idno type="IdRef">067077927</idno><idno type="RNSR">198912571S</idno><idno type="IdUnivLorraine">[UL]RSI--</idno><orgName>Laboratoire Lorrain de Recherche en Informatique et ses Applications</orgName><orgName type="acronym">LORIA</orgName><date type="start">2012-01-01</date><desc><address><addrLine>Campus Scientifique BP 239 54506 Vandoeuvre-lès-Nancy Cedex</addrLine><country key="FR"></country></address><ref type="url">http://www.loria.fr</ref></desc><listRelation><relation active="#struct-300009" type="direct"></relation><relation active="#struct-413289" type="direct"></relation><relation name="UMR7503" active="#struct-441569" type="direct"></relation></listRelation></org></tutelle><tutelle active="#struct-413289" type="indirect"><org type="institution" xml:id="struct-413289" status="VALID"><idno type="IdRef">157040569</idno><idno type="IdUnivLorraine">[UL]100--</idno><orgName>Université de Lorraine</orgName><orgName type="acronym">UL</orgName><date type="start">2012-01-01</date><desc><address><addrLine>34 cours Léopold - CS 25233 - 54052 Nancy cedex</addrLine><country key="FR"></country></address><ref type="url">http://www.univ-lorraine.fr/</ref></desc></org></tutelle><tutelle name="UMR7503" active="#struct-441569" type="indirect"><org type="institution" xml:id="struct-441569" status="VALID"><idno type="ISNI">0000000122597504</idno><idno type="IdRef">02636817X</idno><orgName>Centre National de la Recherche Scientifique</orgName><orgName type="acronym">CNRS</orgName><date type="start">1939-10-19</date><desc><address><country key="FR"></country></address><ref type="url">http://www.cnrs.fr/</ref></desc></org></tutelle></tutelles></hal:affiliation><country>France</country><placeName><settlement type="city">Nancy</settlement><settlement type="city">Metz</settlement><region type="region" nuts="2">Grand Est</region><region type="old region" nuts="2">Lorraine (région)</region></placeName><orgName type="university">Université de Lorraine</orgName></affiliation></author></analytic><series><title level="j">Journal of Intelligent Transportation Systems: Technology, Planning, and Operations</title><idno type="ISSN">1547-2450</idno><imprint><date type="datePub">2010</date></imprint></series></biblStruct></sourceDesc></fileDesc><profileDesc><textClass><keywords scheme="mix" xml:lang="it"><term>3D GIS</term><term>GPS</term><term>autonomous navigation</term><term>data fusion</term><term>geographical 3D model geolocalization</term><term>intelligent vehicle</term><term>vision</term></keywords></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">This article tackles the problem of a vehicle's geolocalization in urban areas. For this purpose, Global Positioning System (GPS) receiver is the main sensor. However, the use of GPS alone is not sufficient in many urban environments. GPS has to be helped with dead-reckoned sensors, map data, and cameras. A novel observation of the absolute pose of the vehicle is proposed to back up GPS and the drift of dead-reckoned sensors. This approach uses a new source of information that is a geographical 3-dimensional (3D) model of the environment in which the vehicle navigates. This virtual 3D city model is managed in real time by a 3D geographical information system (3D GIS). This pose's observation is constructed by matching the virtual image provided by the 3D GIS and the real image acquired by an onboard camera. An extended Kalman filter combines the sensors measurements to produce an estimation of the vehicle's pose. Experimental results using data from an odometer, a gyroscope, a GPS receiver, a camera, and an accurate geographical 3D model of the environment illustrate the developed approach.</div></front></TEI><affiliations><list><country><li>France</li></country><region><li>Franche-Comté</li><li>Grand Est</li><li>Lorraine (région)</li></region><settlement><li>Belfort</li><li>Metz</li><li>Nancy</li></settlement><orgName><li>Université de Lorraine</li><li>Université de technologie de Belfort-Montbéliard</li></orgName></list><tree><country name="France"><region name="Franche-Comté"><name sortKey="Cappelle, Cindy" sort="Cappelle, Cindy" uniqKey="Cappelle C" first="Cindy" last="Cappelle">Cindy Cappelle</name></region><name sortKey="Charpillet, Francois" sort="Charpillet, Francois" uniqKey="Charpillet F" first="François" last="Charpillet">François Charpillet</name><name sortKey="El Badaoui El Najjar, Maan" sort="El Badaoui El Najjar, Maan" uniqKey="El Badaoui El Najjar M" first="Maan" last="El Badaoui El Najjar">Maan El Badaoui El Najjar</name><name sortKey="Pomorski, Denis" sort="Pomorski, Denis" uniqKey="Pomorski D" first="Denis" last="Pomorski">Denis Pomorski</name></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
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