FUSION OF GPS AND VISUAL MOTION ESTIMATES FOR ROBUST OUTDOOR OPEN FIELD LOCALIZATION

Hans Jørgen Andersen, Morten Friesgaard Christensen, Thomas Bak

Abstract

Localization is an essential part of autonomous vehicles or robots navigating in an outdoor environment. In the absence of an ideal sensor for localization, it is necessary to use sensors in combination in order to achieve acceptable results. In the present study we present a combination of GPS and visual motion estimation, which have complementary strengths. The visual motion estimation is based on the tracking of points in an image sequence. In an open field outdoor environment the points being tracked are typically distributed in one dimension (on a line), which allows the ego motion to be determined by a new method based on simple analysis of the image point set covariance structure. Visual motion estimates are fused with GPS data in a Kalman filter. Since the filter tracks the state estimate over time, it is possible to use the prior estimate of the state to remove errors in the landmark matching, simplifying the matching, and increasing the robustness. The proposed algorithm is evaluated against ground truth in a realistic outdoor experimental setup.

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Paper Citation


in Harvard Style

Jørgen Andersen H., Friesgaard Christensen M. and Bak T. (2007). FUSION OF GPS AND VISUAL MOTION ESTIMATES FOR ROBUST OUTDOOR OPEN FIELD LOCALIZATION . In Proceedings of the Second International Conference on Computer Vision Theory and Applications - Volume 2: VISAPP, ISBN 978-972-8865-74-0, pages 413-418. DOI: 10.5220/0002044404130418


in Bibtex Style

@conference{visapp07,
author={Hans Jørgen Andersen and Morten Friesgaard Christensen and Thomas Bak},
title={FUSION OF GPS AND VISUAL MOTION ESTIMATES FOR ROBUST OUTDOOR OPEN FIELD LOCALIZATION},
booktitle={Proceedings of the Second International Conference on Computer Vision Theory and Applications - Volume 2: VISAPP,},
year={2007},
pages={413-418},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002044404130418},
isbn={978-972-8865-74-0},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Second International Conference on Computer Vision Theory and Applications - Volume 2: VISAPP,
TI - FUSION OF GPS AND VISUAL MOTION ESTIMATES FOR ROBUST OUTDOOR OPEN FIELD LOCALIZATION
SN - 978-972-8865-74-0
AU - Jørgen Andersen H.
AU - Friesgaard Christensen M.
AU - Bak T.
PY - 2007
SP - 413
EP - 418
DO - 10.5220/0002044404130418