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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Lothe, P. Bourgeois, S. Royer, E. Dhome, M. Naudet-Collette, S. |
| Copyright Year | 2010 |
| Description | Author affiliation: CEA LIST, Vision and Content Engineering Lab, Point Courrier 94, Gif-sur-Yvette, 91191 France (Lothe, P.; Bourgeois, S.; Naudet-Collette, S.) || LASMEA-UMR 6602 Université Blaise Pascal/CNRS, 63177 Aubière Cedex, France (Royer, E.; Dhome, M.) |
| Abstract | In this system paper, we propose a real-time car localisation process in dense urban areas by using a single perspective camera and a priori on the environment. To tackle this problem, it is necessary to solve two well-known monocular SLAM limitations: scale factor drift and error accumulation. The proposed idea is to combine a monocular SLAM process based on bundle adjustment with simple knowledge, i.e. the position and orientation of the camera with regard to the road and a coarse 3D model of the environment, as those provided by GIS database. First, we show that, thanks to specific SLAM-based constraints, the road homography can be expressed only with respect to the scale factor parameter. This allows the scale factor to be robustly and frequently estimated. Then, we propose to use the global information brought by 3D city models in order to correct the monocular SLAM error accumulation. Even with coarse 3D models, turnings give enough geometrical constraints to allow fitting the reconstructed 3D point cloud with the 3D model. Experiments on large-scale sequences (several kilometres) show that the entire process permits the real-time localisation of a car in city centre, even in real traffic condition. |
| Starting Page | 863 |
| Ending Page | 870 |
| File Size | 4684968 |
| Page Count | 8 |
| File Format | |
| ISBN | 9781424469840 |
| ISSN | 10636919 |
| e-ISBN | 9781424469857 |
| DOI | 10.1109/CVPR.2010.5540127 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2010-06-13 |
| Publisher Place | USA |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Vehicles Cameras Urban areas Cities and towns Simultaneous localization and mapping Roads Solid modeling Real time systems Geographic Information Systems Databases |
| Content Type | Text |
| Resource Type | Article |
| Subject | Computer Vision and Pattern Recognition Software |
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