NDLI: A novel geo-localisation method using GPS, 3D-GIS and laser scanner for intelligent vehicle navigation in urban areas

Content Provider	IEEE Xplore Digital Library
Author	Jing Peng El Najjar, M.E. Cappelle, C. Pomorski, D. Charpillet, F. Deeb, A.
Copyright Year	2009
Description	Author affiliation: LAGIS (Laboratoire d'Automatique, Génie Informatique et Signal), CNRS UMR 8146, USTL - Polytech'Lille Cité Scientifique, 59655 Villeneuve d'Ascq, France (Jing Peng; El Najjar, M.E.; Pomorski, D.) \|\| LORIA (Laboratoire Lorrain de Recherche en informatique et ses Applications), INRIA Lorraine, MAIA Team, Campus Scientifique, BP239, 54506 Vandoeuvre-lès-Nancy, France (Cappelle, C.; Charpillet, F.; Deeb, A.)
Abstract	This paper tackles the problem of vehicle's geo-localisation in urban areas. For this purpose, Global Positioning System (GPS) receiver is the main sensor. But the use of GPS alone is not sufficient in many urban environments. GPS has so to be helped with dead-reckoned sensors, map data, cameras, range finder … In this paper, we propose a novel approach to compute observation of the absolute pose of the vehicle to back up GPS and to compensate the drift of dead-reckoned sensors. This approach uses a new source of information which is a 3D city model i.e. 3D city model of the environment of vehicle evolution. This 3D city model is managed in real-time by a 3D Geographical Information System (3D-GIS). The pose's observation is constructed by using an on-board horizontal laser scanner which provides a set of distances. This set of distances (laser scan data) is matched with depth information (virtual laser scan data), provided by 3D-GIS, using Iterative Closest Point algorithm (ICP). Experimental results performed using real data illustrate the performances of the proposed approach.
Starting Page	1
Ending Page	6
File Size	1764611
Page Count	6
File Format	PDF
ISBN	9781424448555
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-06-22
Publisher Place	Germany
Access Restriction	Subscribed
Rights Holder	GPS Gesellschaft
Subject Keyword	Global Positioning System Intelligent vehicles Navigation Urban areas Cities and towns Laser modes Intelligent sensors Iterative closest point algorithm Sensor systems Cameras Autonomous Navigation Geo-localisation GPS 3D City Model 3D-GIS Intelligent Vehicle
Content Type	Text
Resource Type	Article

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