Fast communication: Low-cost GPS sensor improvement using stereovision fusion

Authors:
David Schleicher;Luis M. Bergasa;Manuel Ocaña;Rafael Barea;Elena López
Affiliations:
Department of Electronics, University of Alcala, Alcalá de Henares, 28805 Madrid, Spain;Department of Electronics, University of Alcala, Alcalá de Henares, 28805 Madrid, Spain;Department of Electronics, University of Alcala, Alcalá de Henares, 28805 Madrid, Spain;Department of Electronics, University of Alcala, Alcalá de Henares, 28805 Madrid, Spain;Department of Electronics, University of Alcala, Alcalá de Henares, 28805 Madrid, Spain
Venue:
Signal Processing
Year:
2010

Citing 4
Cited 0

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IEEE Transactions on Intelligent Transportation Systems

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Abstract

This paper presents a new real-time hierarchical (topological/metric) localization system applied to the robust self-location of a vehicle in large-scale urban environments. Our proposal improves the current vehicle navigation systems based only on GPS sensor. It is exclusively based on the information provided by both, a low-cost wide-angle stereo camera and a low-cost GPS. A low level metric process obtains a 3D sequential mapping of natural landmarks and the vehicle location/orientation. GPS measurements are integrated within this low level, improving vehicle positioning. A higher topological processing level, based on fingerprints and the multi level relaxation (MLR) algorithm, has been added to reduce the global error keeping real-time constraints. Some experimental tests, using a real car navigation system on urban environments with loop closures, have been carried out. Main results and conclusions are presented.