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Tight integration of INS/Stereo VO/Digital map for land vehicle navigation / Fei Liu in Photogrammetric Engineering & Remote Sensing, PERS, vol 84 n° 1 (January 2018)  

Public [article]  inPhotogrammetric Engineering & Remote Sensing, PERS > vol 84 n° 1 (January 2018) . - pp 15 - 23 Titre : Tight integration of INS/Stereo VO/Digital map for land vehicle navigation Type de document : Article/Communication Auteurs : Fei Liu, Auteur ; Yashar Balazadegan, Auteur ; Yang Gao, Auteur Année de publication : 2018 Article en page(s) : pp 15 - 23 Note générale : Bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Navigation et positionnement [Termes IGN] centrale inertielle [Termes IGN] correction géométrique [Termes IGN] erreur instrumentale [Termes IGN] filtre de Kalman [Termes IGN] navigation à l'estime [Termes IGN] odomètre [Termes IGN] système de numérisation mobile Résumé : (Auteur) This paper proposes a method for tight integration of IMU (Inertial Measurement Unit), stereo VO (Visual Odometry) and digital map for land vehicle navigation, which effectively limits the quick drift of DR (Dead Reckoning) navigation system. In this method, the INS provides the dynamic information of the land vehicle, which is used to predict the position and attitude of cameras in order to obtain the predicted pixel coordinates of features on the image. The difference between the measured and predicted pixel coordinates is used to reduce the accumulated errors of INS. To implement the proposed method, an Extended Kalman filter (EKF) is first used to integrate the inertial and visual sensor data. The integrated solution of position, velocity and azimuth is then applied by fuzzy logic map matching (MM) to project the vehicle location on the correct road link. The projected position on the road link and the road link azimuth can finally be used to reduce the dead reckoning drifts. In this way, the accumulated system errors can be significantly reduced. The testing results indicate that the horizontal RMSE (root-mean-square-error) of the proposed method is less than 20 meters over a traveled distance of five kilometers and the relative horizontal error is below 0.4 percent. Numéro de notice : A2018-020 Affiliation des auteurs : non IGN Thématique : IMAGERIE/POSITIONNEMENT Nature : Article DOI : 10.14358/PERS.84.1.15 En ligne : https://doi.org/10.14358/PERS.84.1.15 Format de la ressource électronique : URL Article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=89167 [article]

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Rectified feature matching for spherical panoramic images / Tzu-Yi Chuang in Photogrammetric Engineering & Remote Sensing, PERS, vol 84 n° 1 (January 2018)  

Public [article]  inPhotogrammetric Engineering & Remote Sensing, PERS > vol 84 n° 1 (January 2018) . - pp 25 - 32 Titre : Rectified feature matching for spherical panoramic images Type de document : Article/Communication Auteurs : Tzu-Yi Chuang, Auteur ; N.H. Perng, Auteur Année de publication : 2018 Article en page(s) : pp 25 - 32 Note générale : Bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Traitement d'image [Termes IGN] appariement d'images [Termes IGN] image hémisphérique [Termes IGN] image panoramique Résumé : (Auteur) Spherical panoramic image processing has received renewed interest in the fields of photogrammetry and computer vision. The difficulty in spherical matching is largely due to inevitable image distortions introduced from the equirectangular projection. In this paper, we present an effective strategy for tackling the problem of distortion to improve the performance of spherical image matching. The effectiveness of the rectified matching is evaluated with simulated data and compared with state-of-art methods. In addition, experiments with respect to matching between omnidirectional and planar images, establishing 2D-to-3D correspondence with lidar, and the pose estimation of a spherical image sequence are conducted. The results verify the utility of the proposed method, which provides stable and evenly distributed corresponding points, and it is suitable for integration with conventional techniques for further 3D exploitation of imagery. Numéro de notice : A2018-021 Affiliation des auteurs : non IGN Thématique : IMAGERIE Nature : Article DOI : 10.14358/PERS.84.1.25 En ligne : https://doi.org/10.14358/PERS.84.1.25 Format de la ressource électronique : URL Article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=89168 [article]

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