IMPROVING CAR NAVIGATION WITH A VISION-BASED SYSTEM


== Abstract ==

The real-time acquisition of the accurate positions is very important for the proper operations of driver assistance systems or autonomous vehicles. Since the current systems mostly depend on a GPS and map-matching technique, they show poor and unreliable performance in blockage and weak areas of GPS signals. In this study, we propose a vision oriented car navigation method based on sensor fusion with a GPS and in-vehicle sensors. We employed a single photo resection process to derive the position and attitude of the camera and thus those of the car. This image georeferencing results are combined with other sensory data under the sensor fusion framework for more accurate estimation of the positions using an extended Kalman filter. The proposed system estimated the positions with an accuracy of 15 m although GPS signals are not available at all during the entire test drive of 15 minutes. The proposed vision based system can be effectively utilized for the low-cost but high-accurate and reliable navigation systems required for intelligent or autonomous vehicles.                     

Document type: Article

== Full document ==
<pdf>Media:Draft_Content_764996160-beopen925-8593-document.pdf</pdf>


== Original document ==

The different versions of the original document can be found in:

* [https://www.isprs-ann-photogramm-remote-sens-spatial-inf-sci.net/II-3-W5/459/2015 https://www.isprs-ann-photogramm-remote-sens-spatial-inf-sci.net/II-3-W5/459/2015] under the license https://creativecommons.org/licenses/by

* [https://www.isprs-ann-photogramm-remote-sens-spatial-inf-sci.net/II-3-W5/459/2015/isprsannals-II-3-W5-459-2015.pdf https://www.isprs-ann-photogramm-remote-sens-spatial-inf-sci.net/II-3-W5/459/2015/isprsannals-II-3-W5-459-2015.pdf]

* [http://www.isprs-ann-photogramm-remote-sens-spatial-inf-sci.net/II-3-W5/459/2015/isprsannals-II-3-W5-459-2015.pdf http://www.isprs-ann-photogramm-remote-sens-spatial-inf-sci.net/II-3-W5/459/2015/isprsannals-II-3-W5-459-2015.pdf],
: [http://dx.doi.org/10.5194/isprsannals-ii-3-w5-459-2015 http://dx.doi.org/10.5194/isprsannals-ii-3-w5-459-2015] under the license cc-by

* [http://www.isprs-ann-photogramm-remote-sens-spatial-inf-sci.net/II-3-W5/459/2015/isprsannals-II-3-W5-459-2015.pdf http://www.isprs-ann-photogramm-remote-sens-spatial-inf-sci.net/II-3-W5/459/2015/isprsannals-II-3-W5-459-2015.pdf],
: [https://doaj.org/toc/2194-9042 https://doaj.org/toc/2194-9042],
: [https://doaj.org/toc/2194-9050 https://doaj.org/toc/2194-9050] under the license http://creativecommons.org/licenses/by/3.0/

* [https://doaj.org/article/b2a910f3c4594492a116df0ab94c8e53 https://doaj.org/article/b2a910f3c4594492a116df0ab94c8e53],
: [http://www.isprs-ann-photogramm-remote-sens-spatial-inf-sci.net/II-3-W5/459/2015/isprsannals-II-3-W5-459-2015.pdf http://www.isprs-ann-photogramm-remote-sens-spatial-inf-sci.net/II-3-W5/459/2015/isprsannals-II-3-W5-459-2015.pdf],
: [https://ui.adsabs.harvard.edu/abs/2015ISPAnII35..459K/abstract https://ui.adsabs.harvard.edu/abs/2015ISPAnII35..459K/abstract],
: [https://www.isprs-ann-photogramm-remote-sens-spatial-inf-sci.net/II-3-W5/459/2015 https://www.isprs-ann-photogramm-remote-sens-spatial-inf-sci.net/II-3-W5/459/2015],
: [https://noa.gwlb.de/receive/cop_mods_00015488 https://noa.gwlb.de/receive/cop_mods_00015488],
: [https://academic.microsoft.com/#/detail/2287455477 https://academic.microsoft.com/#/detail/2287455477]