loading
Documents

Research.Publish.Connect.

Paper

Paper Unlock

Authors: Hans Jørgen Andersen ; Morten Friesgaard Christensen and Thomas Bak

Affiliation: Aalborg University, Denmark

ISBN: 978-972-8865-74-0

Keyword(s): Computer vision, Autonomous mobile robot, Visual Odometry, GPS, Kalman filtering.

Related Ontology Subjects/Areas/Topics: Computer Vision, Visualization and Computer Graphics ; Motion, Tracking and Stereo Vision ; Visual Navigation ; Visually Guided Robotics

Abstract: Localization is an essential part of autonomous vehicles or robots navigating in an outdoor environment. In the absence of an ideal sensor for localization, it is necessary to use sensors in combination in order to achieve acceptable results. In the present study we present a combination of GPS and visual motion estimation, which have complementary strengths. The visual motion estimation is based on the tracking of points in an image sequence. In an open field outdoor environment the points being tracked are typically distributed in one dimension (on a line), which allows the ego motion to be determined by a new method based on simple analysis of the image point set covariance structure. Visual motion estimates are fused with GPS data in a Kalman filter. Since the filter tracks the state estimate over time, it is possible to use the prior estimate of the state to remove errors in the landmark matching, simplifying the matching, and increasing the robustness. The proposed algorithm is evaluated against ground truth in a realistic outdoor experimental setup. (More)

PDF ImageFull Text

Download
CC BY-NC-ND 4.0

Sign In Guest: Register as new SciTePress user now for free.

Sign In SciTePress user: please login.

PDF ImageMy Papers

You are not signed in, therefore limits apply to your IP address 35.175.191.150

In the current month:
Recent papers: 100 available of 100 total
2+ years older papers: 200 available of 200 total

Paper citation in several formats:
Jørgen Andersen H.; Friesgaard Christensen M.; Bak T. and (2007). FUSION OF GPS AND VISUAL MOTION ESTIMATES FOR ROBUST OUTDOOR OPEN FIELD LOCALIZATION.In Proceedings of the Second International Conference on Computer Vision Theory and Applications - Volume 2: VISAPP, ISBN 978-972-8865-74-0, pages 413-418. DOI: 10.5220/0002044404130418

@conference{visapp07,
author={Hans {Jørgen Andersen} and Morten {Friesgaard Christensen} and Thomas Bak},
title={FUSION OF GPS AND VISUAL MOTION ESTIMATES FOR ROBUST OUTDOOR OPEN FIELD LOCALIZATION},
booktitle={Proceedings of the Second International Conference on Computer Vision Theory and Applications - Volume 2: VISAPP,},
year={2007},
pages={413-418},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002044404130418},
isbn={978-972-8865-74-0},
}

TY - CONF

JO - Proceedings of the Second International Conference on Computer Vision Theory and Applications - Volume 2: VISAPP,
TI - FUSION OF GPS AND VISUAL MOTION ESTIMATES FOR ROBUST OUTDOOR OPEN FIELD LOCALIZATION
SN - 978-972-8865-74-0
AU - Jørgen Andersen, H.
AU - Friesgaard Christensen, M.
AU - Bak, T.
PY - 2007
SP - 413
EP - 418
DO - 10.5220/0002044404130418

Login or register to post comments.

Comments on this Paper: Be the first to review this paper.