NDLI: Virtual 3D City Model for Navigation in Urban Areas

Content Provider	Springer Nature Link
Author	Cappelle, Cindy El Najjar, Maan E. Charpillet, François Pomorski, Denis
Copyright Year	2011
Abstract	In this paper, we propose to study the integration of a new source of a priori information, which is the virtual 3D city model. We study this integration for two tasks: vehicles geo-localization and obstacles detection. A virtual 3D city model is a realistic representation of the evolution environment of a vehicle. It is a database of geographical and textured 3D data. We describe an ego-localization method that combines measurements of a GPS (Global Positioning System) receiver, odometers, a gyrometer, a video camera and a virtual 3D city model. GPS is often consider as the main sensor for localization of vehicles. But, in urban areas, GPS is not precise or even can be unavailable. So, GPS data are fused with odometers and gyrometer measurements using an Unscented Kalman Filter (UKF). However, during long GPS unavailability, localization with only odometers and gyrometer drift. Thus, we propose a new observation of the location of the vehicle. This observation is based on the matching between the current image acquired by an on-board camera and the virtual 3D city model of the environment. We also propose an obstacle detection method based on the comparison between the image acquired by the on-board camera and the image extracted from the 3D model. The following principle is used: the image acquired by the on-board camera contains the possible dynamic obstacles whereas they are absent from the 3D model. The two proposed concepts are tested on real data.
Starting Page	377
Ending Page	399
Page Count	23
File Format	PDF
ISSN	09210296
Journal	Journal of Intelligent & Robotic Systems
Volume Number	66
Issue Number	3
e-ISSN	15730409
Language	English
Publisher	Springer Netherlands
Publisher Date	2011-07-08
Publisher Place	Dordrecht
Access Restriction	Subscribed
Subject Keyword	Virtual 3D city model GPS Multi-sensor data fusion Computer vision Intelligent vehicle localization Obstacle detection Artificial Intelligence (incl. Robotics) Electrical Engineering Mechanical Engineering Control, Robotics, Mechatronics
Content Type	Text
Resource Type	Article
Subject	Industrial and Manufacturing Engineering Artificial Intelligence Control and Systems Engineering Mechanical Engineering Electrical and Electronic Engineering Software

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Relative Navigation Approach for Vision-Based Aerial GPS-Denied Navigation

Autonomous Vision-Based Helicopter Flights Through Obstacle Gates

Unmanned Ground Vehicle Navigation in Coordinate-Free and Localization-Free Wireless Sensor and Actuator Networks

Autonomous Navigation of UAV in Foliage Environment

Particle Filter SLAM with High Dimensional Vehicle Model

A Navigation Aid for Blind People

Estimating Vehicle State by GPS/IMU Fusion with Vehicle Dynamics

Virtual 3D city model for intelligent vehicle geo-localization

On-Board Dual-Stereo-Vision for the Navigation of an Autonomous MAV

Virtual 3D City Model for Navigation in Urban Areas

Similar Documents

Relative Navigation Approach for Vision-Based Aerial GPS-Denied Navigation

Autonomous Vision-Based Helicopter Flights Through Obstacle Gates

Unmanned Ground Vehicle Navigation in Coordinate-Free and Localization-Free Wireless Sensor and Actuator Networks

Autonomous Navigation of UAV in Foliage Environment

Particle Filter SLAM with High Dimensional Vehicle Model

A Navigation Aid for Blind People

Estimating Vehicle State by GPS/IMU Fusion with Vehicle Dynamics

Virtual 3D city model for intelligent vehicle geo-localization

On-Board Dual-Stereo-Vision for the Navigation of an Autonomous MAV

Virtual 3D City Model for Navigation in Urban Areas