دورية أكاديمية
Tightly-Coupled GNSS/Vision Using a Sky-Pointing Camera for Vehicle Navigation in Urban Areas
| العنوان: | Tightly-Coupled GNSS/Vision Using a Sky-Pointing Camera for Vehicle Navigation in Urban Areas |
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| المؤلفون: | Gakne, Paul Verlaine, O'Keefe, Kyle P.G. |
| بيانات النشر: | Multidisciplinary Digital Publishing Institute Geomatics Engineering Schulich School of Engineering University of Calgary //www.mdpi.com/authors |
| سنة النشر: | 2018 |
| المجموعة: | PRISM - University of Calgary Digital Repository |
| مصطلحات موضوعية: | visual odometry, upward-facing camera, motion estimation, satellites, GNSS, tightly-coupled integration, vehicle navigation, image segmentation, clustering algorithms |
| الوصف: | 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 a car and synchronized with a GNSS receiver. The advantages of this configuration are two-fold: firstly, for the GNSS signals, the upward-facing camera will be used to classify the acquired images into sky and non-sky (also known as segmentation). A satellite falling into the non-sky areas (e.g., buildings, trees) will be rejected and not considered for the final position solution computation. Secondly, the sky-pointing camera (with a field of view of about 90 degrees) is helpful for urban area ego-motion estimation in the sense that it does not see most of the moving objects (e.g., pedestrians, cars) and thus is able to estimate the ego-motion with fewer outliers than is typical with a forward-facing camera. The GNSS and visual information systems are tightly-coupled in a Kalman filter for the final position solution. Experimental results demonstrate the ability of the system to provide satisfactory navigation solutions and better accuracy than the GNSS-only and the loosely-coupled GNSS/vision, 20 percent and 82 percent (in the worst case) respectively, in a deep urban canyon, even in conditions with fewer than four GNSS satellites. ; Natural Sciences and Engineering Research Council - Discovery Grant |
| نوع الوثيقة: | article in journal/newspaper |
| وصف الملف: | application/pdf |
| اللغة: | English |
| تدمد: | 1424-8220 |
| العلاقة: | Gakne, P. V., & O’Keefe, K. P. G. (2018). Tightly-Coupled GNSS/Vision Using a Sky-Pointing Camera for Vehicle Navigation in Urban Areas. "Sensors," 18(4), 1–32. https://doi.org/10.3390/s18041244Test; http://dx.doi.org/10.3390/s18041244Test; http://hdl.handle.net/1880/111486Test; https://dx.doi.org/10.11575/PRISM/37444Test |
| DOI: | 10.3390/s18041244 |
| DOI: | 10.11575/PRISM/37444 |
| الإتاحة: | https://doi.org/10.3390/s18041244Test https://doi.org/10.11575/PRISM/37444Test http://hdl.handle.net/1880/111486Test |
| حقوق: | ©2018 by the authors. ; https://creativecommons.org/licenses/by/4.0Test ; https://creativecommons.org/licenses/by/4.0Test/ |
| رقم الانضمام: | edsbas.FBC5C390 |
| قاعدة البيانات: | BASE |
Full Text Finder | تدمد: | 14248220 |
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| DOI: | 10.3390/s18041244 |