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Towards visual urban scene understanding for autonomous vehicle path tracking using GPS positioning data / Citlalli Gamez Serna (2019)
Titre : Towards visual urban scene understanding for autonomous vehicle path tracking using GPS positioning data Type de document : Thèse/HDR Auteurs : Citlalli Gamez Serna, Auteur ; Yassine Ruichek, Directeur de thèse Editeur : Dijon : Université Bourgogne Franche-Comté UBFC Année de publication : 2019 Importance : 178 p. Format : 21 x 30 cm Note générale : bibliographie
Thèse de Doctorat de l'Université Bourgogne Franche-Comté préparée à l'Université de Technologie de Belfort-Montbéliard, InformatiqueLangues : Anglais (eng) Descripteur : [Vedettes matières IGN] Traitement d'image
[Termes IGN] apprentissage profond
[Termes IGN] classification par réseau neuronal convolutif
[Termes IGN] compréhension de l'image
[Termes IGN] instance
[Termes IGN] milieu urbain
[Termes IGN] navigation autonome
[Termes IGN] récepteur GPS
[Termes IGN] scène urbaine
[Termes IGN] segmentation sémantique
[Termes IGN] signalisation routière
[Termes IGN] système de transport intelligent
[Termes IGN] trajectoire (véhicule non spatial)
[Termes IGN] véhicule sans pilote
[Termes IGN] vision par ordinateur
[Termes IGN] vision stéréoscopique
[Termes IGN] vitesseMots-clés libres : suivi d'itinéraire Index. décimale : THESE Thèses et HDR Résumé : (auteur) This PhD thesis focuses on developing a path tracking approach based on visual perception and localization in urban environments. The proposed approach comprises two systems. The first one concerns environment perception. This task is carried out using deep learning techniques to automatically extract 2D visual features and use them to learn in order to distinguish the different objects in the driving scenarios. Three deep learning techniques are adopted: semantic segmentation to assign each image pixel to a class, instance segmentation to identify separated instances of the same class and, image classification to further recognize the specific labels of the instances. Here our system segments 15 object classes and performs traffic sign recognition. The second system refers to path tracking. In order to follow a path, the equipped vehicle first travels and records the route with a stereo vision system and a GPS receiver (learning step). The proposed system analyses off-line the GPS path and identifies exactly the locations of dangerous (sharp) curves and speed limits. Later after the vehicle is able to localize itself, the vehicle control module together with our speed negotiation algorithm, takes into account the information extracted and computes the ideal speed to execute. Through experimental results of both systems, we prove that, the first one is capable to detect and recognize precisely objects of interest in urban scenarios, while the path tracking one reduces significantly the lateral errors between the learned and traveled path. We argue that the fusion of both systems will ameliorate the tracking approach for preventing accidents or implementing autonomous driving. Note de contenu : I- Context and problems
1- Introduction
II- Contribution
2- Proposed datasets
3- Traffic sign classification
4- Visual perception system for urban environments
5- Dynamic speed adaptation system for path tracking based on curvature
information and speed limits
III- Conclusions and future works
6- Conclusions and future worksNuméro de notice : 25967 Affiliation des auteurs : non IGN Thématique : IMAGERIE/INFORMATIQUE Nature : Thèse française Note de thèse : Thèse de Doctorat : Informatique : UBFC : 2019 Organisme de stage : CIAD Dijon nature-HAL : Thèse DOI : sans En ligne : https://tel.archives-ouvertes.fr/tel-02160966/document Format de la ressource électronique : URL Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=96587 Enhanced local ionosphere model for multi-constellations single frequency precise point positioning applications: Egyptian case study / Emad El Manaily in Artificial satellites, vol 53 n° 4 (December 2018)
[article]
Titre : Enhanced local ionosphere model for multi-constellations single frequency precise point positioning applications: Egyptian case study Type de document : Article/Communication Auteurs : Emad El Manaily, Auteur ; Mahmoud Abd Rabbou, Auteur ; Adel El-Shazly, Auteur ; Moustafa Baraka, Auteur Année de publication : 2018 Article en page(s) : pp.141 – 157 Note générale : bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Géodésie spatiale
[Termes IGN] constellation GNSS
[Termes IGN] Egypte
[Termes IGN] international GPS service for geodynamics
[Termes IGN] Le Caire
[Termes IGN] modèle ionosphérique
[Termes IGN] occultation du signal
[Termes IGN] positionnement par GNSS
[Termes IGN] positionnement ponctuel précis
[Termes IGN] récepteur monofréquence
[Termes IGN] retard ionosphèrique
[Termes IGN] signal GNSSRésumé : (auteur) The positioning accuracy of single frequency precise point positioning (SFPPP) attributes mainly to the ionosphere error, which strongly affects GNSS signals. When GNSS signals pass through the various ionosphere layers, they will be bent and their speed will be changed due to dispersive nature of ionosphere. To correct the ionosphere error, it is common to use Klobuchar ionosphere model or Global Ionosphere Maps (GIM). However, Klobuchar can deal with only about 50% of the Ionosphere effect and global Ionosphere maps are often inadequate to describe detailed features of local ionosphere because of limited precision and resolution. In this paper, an enhanced local ionosphere model was developed relying on modeling of measurements from a dense Egyptian permanent tracking GNSS network in order to achieve high precision ionosphere delay correction. The performance of the developed enhanced Egyptian ionosphere model (EIM) was verified through multi-constellations SFPPP accuracy for static and kinematic modes. For static mode, 24 hours multi-constellations datasets collected at three selected stations, Alexandria, Cairo, and Aswan, in Egypt on February 27, 2017, to investigate the performance of the developed local ionospheric model in comparison with the Klobuchar, GIM and ionosphere free models. After session time of half an hour, the results show that the performance of static SFPPP based on the developed Egyptian ionospheric map (EIM) achieved a comparable accuracy WRT using ionosphere free model. While using EIM, achieved an improvements of (38%, 28%, and 42%) and (32%, 10%, and 37%) for accuracy of latitude, longitude, and altitude in comparison with using Klobuchar and GIM models, respectively For kinematic mode, datasets of 2 hours of observations with 1 second sampling rate were logged during vehicular test; the test was carried out on the ring road of the city of Cairo, Egypt, on September 16, 2017. After half an hour of kinematic SFPPP data-processing, the performance of using Egyptian ionospheric map (EIM) for ionosphere delay correction, achieved an improvements of three dimension coordinates of (83%, 47%, and 62%) and (57%, 65%, and 21%) with respect to using Klobuchar model and GIM model, respectively. Numéro de notice : A2018-606 Affiliation des auteurs : non IGN Thématique : POSITIONNEMENT Nature : Article nature-HAL : ArtAvecCL-RevueIntern DOI : 10.2478/arsa-2018-0011 Date de publication en ligne : 11/01/2019 En ligne : https://content.sciendo.com/view/journals/arsa/53/4/article-p141.xml Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=92627
in Artificial satellites > vol 53 n° 4 (December 2018) . - pp.141 – 157[article]Documents numériques
en open access
Enhanced local ionosphere model ... - pdf éditeurAdobe Acrobat PDF Evaluation of three ionospheric delay computation methods for ground-based GNSS receivers / Liang Chen in GPS solutions, vol 22 n° 4 (October 2018)
[article]
Titre : Evaluation of three ionospheric delay computation methods for ground-based GNSS receivers Type de document : Article/Communication Auteurs : Liang Chen, Auteur ; Wenting Yi, Auteur ; Weiwei Song, Auteur ; Chuang Shi, Auteur ; Yidong Lou, Auteur ; Cheng Cao, Auteur Année de publication : 2018 Note générale : Bibliographie Langues : Anglais (eng) Descripteur : [Termes IGN] analyse comparative
[Termes IGN] erreur systématique inter-systèmes
[Termes IGN] positionnement ponctuel précis
[Termes IGN] récepteur GNSS
[Termes IGN] retard ionosphèrique
[Vedettes matières IGN] Traitement de données GNSSMots-clés libres : carrier-to-code leveling (CCL) method ionospheric-free Hatch–Melbourne–Wubbena (HMW) function Résumé : (Auteur) GNSS observables for ionospheric estimation are commonly based on carrier-to-code leveling (CCL) and precise point positioning (PPP) methods. The CCL method is a geometry-free method which uses carrier phase to level pseudorange observation for decreasing multipath error and observation noise. However, the ionospheric observable based on the CCL has been proven to be affected by leveling errors. The leveling errors are caused by pseudorange multipath and intraday variation of receiver DCB. To obtain more accurate ionospheric observable, the PPP method takes advantage of precise satellite-to-ground range for retrieving slant total electron content and is less affected by the leveling errors. Previous studies have only proven that the ionospheric observables extracted by the two methods are affected by the leveling errors. The influence on ionospheric observable by the pseudorange inter-receiver satellite bias (IRSB) of the receiver has not been taken into consideration. Also, the magnitude of the differences between the ionospheric observables extracted by the two methods has also not been given. In this work, three methods, namely, the CCL, the conventional ionospheric-free PPP method which uses the ionospheric-free Hatch–Melbourne–Wubbena (HMW) function, and the University of Calgary (UOFC) PPP method, are selected to analyze and compare the differences of ionospheric observables and the global ionospheric maps, using a large number of measured data from international GNSS service global stations. Experimental results show that the accuracy of ionospheric observables obtained by the three methods is not only related to the leveling error, but also pseudorange IRSB. The IRSB of the receiver exerts a major effect on the ionospheric observables obtained by the CCL method and a minor effect on the ionospheric observables obtained by the HMW and UOFC methods. The accuracies in the latter case are similar and superior to those obtained by the CCL. The differences of the ionospheric observables obtained by the CCL and UOFC methods, or the CCL and HMW methods, are at decimeter level, whereas the difference of the ionospheric observables obtained by the UOFC and HMW methods is at centimeter level. The UOFC method presented the highest single-frequency pseudorange positioning accuracy using estimated global ionospheric products, followed by the HMW and the CCL methods which presented the lowest positioning accuracy. Numéro de notice : A2018-376 Affiliation des auteurs : non IGN Thématique : POSITIONNEMENT Nature : Article nature-HAL : ArtAvecCL-RevueIntern DOI : 10.1007/s10291-018-0788-9 Date de publication en ligne : 01/10/2018 En ligne : https://doi.org/10.1007/s10291-018-0788-9 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=90780
in GPS solutions > vol 22 n° 4 (October 2018)[article]GNSS-assisted integrated sensor orientation with sensor pre-calibration for accurate corridor mapping / Yilin Zhou in Sensors, vol 18 n° 9 (September 2018)
[article]
Titre : GNSS-assisted integrated sensor orientation with sensor pre-calibration for accurate corridor mapping Type de document : Article/Communication Auteurs : Yilin Zhou , Auteur ; Ewelina Rupnik , Auteur ; Paul-Henri Faure, Auteur ; Marc Pierrot-Deseilligny , Auteur Année de publication : 2018 Projets : 1-Pas de projet / Note générale : bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Photogrammétrie numérique
[Termes IGN] chambre métrique
[Termes IGN] compensation par faisceaux
[Termes IGN] drone
[Termes IGN] modèle géométrique de prise de vue
[Termes IGN] orientation du capteur intégrée
[Termes IGN] point d'appui
[Termes IGN] récepteur GNSS
[Termes IGN] zone tamponRésumé : (auteur) With the development of unmanned aerial vehicles (UAVs) and global navigation satellite system (GNSS), the accurate camera positions at exposure can be known and the GNSS-assisted bundle block adjustment (BBA) approach is possible for integrated sensor orientation (ISO). This study employed ISO approach for camera pose determination with the objective of investigating the impact of a good sensor pre-calibration on a poor acquisition geometry. Within the presented works, several flights were conducted on a dike by a small UAV embedded with a metric camera and a GNSS receiver. The multi-lever-arm estimation within the BBA procedure makes it possible to merge image blocks of different configurations such as nadir and oblique images without physical constraints on camera and GNSS antenna positions. The merged image block achieves a better accuracy and the sensor self-calibrated well. The issued sensor calibration is then applied to a less preferable acquisition configuration and the accuracy is significantly improved. For a corridor acquisition scene of about 600 m , a centimetric accuracy is reached with one GCP. With the provided sensor pre-calibration, an accuracy of 3.9 cm is achieved without any GCP. Numéro de notice : A2018-388 Affiliation des auteurs : LASTIG MATIS+Ext (2012-2019) Thématique : IMAGERIE Nature : Article nature-HAL : ArtAvecCL-RevueIntern DOI : 10.3390/s18092783 Date de publication en ligne : 24/08/2018 En ligne : https://doi.org/10.3390/s18092783 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=90803
in Sensors > vol 18 n° 9 (September 2018)[article]Comparative analysis of multi-constellation GNSS single-frequency precise point positioning / Mahmoud Abd Rabbou in Survey review, vol 50 n° 361 (July 2018)
[article]
Titre : Comparative analysis of multi-constellation GNSS single-frequency precise point positioning Type de document : Article/Communication Auteurs : Mahmoud Abd Rabbou, Auteur ; Adel El-Shazly, Auteur ; Kamal Ahmed, Auteur Année de publication : 2018 Article en page(s) : pp 373 - 382 Note générale : Bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Navigation et positionnement
[Termes IGN] analyse comparative
[Termes IGN] positionnement par BeiDou
[Termes IGN] positionnement par Galileo
[Termes IGN] positionnement par GLONASS
[Termes IGN] positionnement par GPS
[Termes IGN] positionnement ponctuel précis
[Termes IGN] récepteur GNSS
[Termes IGN] récepteur monofréquenceRésumé : (Auteur) We develop new single-frequency PPP models, which combine the observations of the current GNSS constellations, including GPS, GLONASS, Galileo and BeiDou. Four single-frequency GNSS PPP models are developed, namely, the undifferenced single-frequency GNSS PPP model, the undifferenced ionosphere-free (IF) code and phase model known as quasi-phase model, the between-satellite-single-difference model (BSSD) and the between-satellite-single-difference ionosphere-free (BSSDIF) model. The IGS final precise products are used to account for the orbital and clock errors. For both undifferenced and BSSD models, the IGS final global ionospheric maps (GIM) model is used to correct the ionospheric delay. The GNSS inter-system biases are treated as additional unknowns in the estimation process for the undifferenced models, while a loosely coupled technique is used for the BSSD models. Various GNSS combinations are considered in the assessment for each PPP model, including GPS/GLONASS, GPS/Galileo, GPS/BeiDou and quad-constellation GNSS observations. It is shown that the multi-GNSS observations enhance the PPP solution accuracy in comparison with the GPS-only solution. Furthermore, the use of IF-PPP technique enhances the positioning accuracy by 25, 20, 24, 20 and 19% compared with the GIM-based PPP model for the GPS-only, GPS/GLONASS, GPS/Galileo, GPS/BeiDou and quad-GNSS combinations, respectively, for 1 h of GNSS data processing. In addition, an average of 15% positioning accuracy improvement can be obtained when the BSSD techniques are used compared with the undifferenced techniques. However, for 6 h of processing, comparable positioning accuracy can be obtained from all four single-frequency models. Numéro de notice : A2018-445 Affiliation des auteurs : non IGN Thématique : POSITIONNEMENT Nature : Article nature-HAL : ArtAvecCL-RevueIntern DOI : 10.1080/00396265.2017.1296628 Date de publication en ligne : 13/03/2017 En ligne : https://doi.org/10.1080/00396265.2017.1296628 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=91030
in Survey review > vol 50 n° 361 (July 2018) . - pp 373 - 382[article]Cartographie pour la réflexion sur un périmètre à irriguer dans le Sud Kivu / Anne Girardin in XYZ, n° 155 (juin - août 2018)PermalinkGPS receiver phase biases estimable in PPP-RTK networks : dynamic characterization and impact analysis / Baocheng Zhang in Journal of geodesy, vol 92 n° 6 (June 2018)PermalinkJoint estimation of vertical total electron content (VTEC) and satellite differential code biases (SDCBs) using low-cost receivers / Baocheng Zhang in Journal of geodesy, vol 92 n° 4 (April 2018)PermalinkKinematic-PPP using single/dual frequency observations from (GPS, GLONASS and GPS/GLONASS) constellations for hydrography / Ashraf Farah in Artificial satellites, vol 53 n° 1 (March 2018)PermalinkLittoral, "Ricochet" ausculte / Marielle Mayo in Géomètre, n° 2155 (février 2018)PermalinkPermalinkParameter estimation with GNSS-reflectometry and GNSS synthetic aperture techniques / Miguel Angel Ribot Sanfelix (2018)PermalinkPermalinkThe use of low-cost, single-frequency GNSS receivers in mapping surveys / M. Tsakiri in Survey review, vol 50 n° 358 (January 2018)PermalinkPermalink