[go: up one dir, main page]

Gakne et al., 2018 - Google Patents

Tightly-coupled GNSS/vision using a sky-pointing camera for vehicle navigation in urban areas

Gakne et al., 2018

View HTML
Document ID
9734619622926061609
Author
Gakne P
O’Keefe K
Publication year
Publication venue
Sensors

External Links

Snippet

This paper presents a method of fusing the ego-motion of a robot or a land vehicle estimated from an upward-facing camera with Global Navigation Satellite System (GNSS) signals for navigation purposes in urban environments. A sky-pointing camera is mounted on the top of …
Continue reading at www.mdpi.com (HTML) (other versions)

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10032—Satellite or aerial image; Remote sensing
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING; COUNTING
    • G06K—RECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K9/00—Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
    • G06K9/20—Image acquisition
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING; COUNTING
    • G06K—RECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K9/00—Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
    • G06K9/00624—Recognising scenes, i.e. recognition of a whole field of perception; recognising scene-specific objects
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in preceding groups
    • G01C21/20—Instruments for performing navigational calculations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING; COUNTING
    • G06K—RECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K9/00—Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
    • G06K9/36—Image preprocessing, i.e. processing the image information without deciding about the identity of the image
    • G06K9/46—Extraction of features or characteristics of the image
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/89—Radar or analogous systems specially adapted for specific applications for mapping or imaging
    • G01S13/90—Radar or analogous systems specially adapted for specific applications for mapping or imaging using synthetic aperture techniques, e.g. correcting range migration errors
    • G01S13/9035—Particular SAR processing techniques not provided for elsewhere, e.g. squint mode, doppler beam-sharpening mode, spotlight mode, bistatic SAR, inverse SAR
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00

Similar Documents

Publication Publication Date Title
Gakne et al. Tightly-coupled GNSS/vision using a sky-pointing camera for vehicle navigation in urban areas
Elhashash et al. A review of mobile mapping systems: From sensors to applications
Min et al. Kinematic and dynamic vehicle model-assisted global positioning method for autonomous vehicles with low-cost GPS/camera/in-vehicle sensors
Debeunne et al. A review of visual-LiDAR fusion based simultaneous localization and mapping
Li et al. Tight fusion of a monocular camera, MEMS-IMU, and single-frequency multi-GNSS RTK for precise navigation in GNSS-challenged environments
Javanmardi et al. Towards high-definition 3D urban mapping: Road feature-based registration of mobile mapping systems and aerial imagery
Nguyen et al. Remote marker-based tracking for UAV landing using visible-light camera sensor
Chu et al. Monocular camera/IMU/GNSS integration for ground vehicle navigation in challenging GNSS environments
Wang et al. An overview of key SLAM technologies for underwater scenes
Zhuo et al. Automatic UAV image geo-registration by matching UAV images to georeferenced image data
Peyraud et al. About non-line-of-sight satellite detection and exclusion in a 3D map-aided localization algorithm
Moreau et al. Fisheye-based method for GPS localization improvement in unknown semi-obstructed areas
Wang et al. Real-time multi-target localization from unmanned aerial vehicles
Munguía et al. Vision-based SLAM system for unmanned aerial vehicles
Habib et al. Geometric calibration and radiometric correction of LiDAR data and their impact on the quality of derived products
Gu et al. Passive sensor integration for vehicle self-localization in urban traffic environment
Kang et al. Lane-level map-matching method for vehicle localization using GPS and camera on a high-definition map
Stateczny et al. Shore construction detection by automotive radar for the needs of autonomous surface vehicle navigation
Shi et al. GPS-supported visual SLAM with a rigorous sensor model for a panoramic camera in outdoor environments
Feriol et al. A review of environmental context detection for navigation based on multiple sensors
Lin et al. Autonomous vehicle localization with prior visual point cloud map constraints in GNSS-challenged environments
Kim et al. A low-cost, high-precision vehicle navigation system for deep urban multipath environment using TDCP measurements
Przemyslaw et al. Enhancing positioning accuracy in urban terrain by fusing data from a GPS receiver, inertial sensors, stereo-camera and digital maps for pedestrian navigation
Fu et al. Vision-aided RAIM: A new method for GPS integrity monitoring in approach and landing phase
Hosseinyalamdary et al. Tracking 3D moving objects based on GPS/IMU navigation solution, laser scanner point cloud and GIS data