A sensor fusion framework using multiple particle filters for video-based navigation

IEEE Transactions on Intelligent Transportation Systems

Volumn 11, Issue 2, 2010, Pages 348-358

  Bai, Li ^a   Wang, Yan ^a  

^a UNIVERSITY OF NOTTINGHAM   (United Kingdom)

Author keywords

Geographical Information System (GIS); Global Positioning System (GPS); Multiple condensation trackers; Sensor fusion; Video based navigation

Indexed keywords

AUXILIARY VARIABLES; CONDENSATION TRACKER; GEOGRAPHICAL INFORMATION SYSTEM; GEOGRAPHICAL INFORMATION SYSTEM (GIS); GEOGRAPHICAL INFORMATION SYSTEMS; MULTIPLE PARTICLES; MULTIPLE SENSORS; PARTITION SAMPLING; PRIOR KNOWLEDGE; ROAD SIGNS; SENSOR FUSION; VISION MODULES;

COMPUTER VISION; CONDENSATION; GEOGRAPHIC INFORMATION SYSTEMS; GLOBAL POSITIONING SYSTEM; INFORMATION SYSTEMS; NAVIGATION; NONLINEAR FILTERING; ROADS AND STREETS; TRACKING (POSITION);

SENSORS;

EID: 77953121603     PISSN: 15249050     EISSN: None     Source Type: Journal    
DOI: 10.1109/TITS.2010.2043431     Document Type: Article

References (30)

1. J. Wang, M. Garratt, A. Lambert, J. H. Wang, and D. Sinclair, "Integration of GPS/INS/vision sensors to navigate unmanned aerial vehicles," in Proc. XXI Congr. Int. Soc. Photogramm. Remote Sens., 2008, vol.XXXVII, pp. 963-970.
2. M. Veth, R. Anderson, F. Webber, and M. Nielsen, "Tightly-coupled INS, GPS and imaging sensors for precision geolocation," in Proc. Sensor Geopositioning Workshop, Reston, VA, 2008.
3. F. Heimes and H. Nagel, "Towards active machine-vision-based driver assistance for urban areas," Int. J. Comput. Vis., vol.50, no.1, pp. 5-34, Oct. 2002.
4. Z. Hu and K. Uchimura, "Real-time data fusion on tracking camera pose for direct visual guidance," in Proc. IEEE Intell. Vehicles Symp., 2004, pp. 842-847.
5. M. Kais, S. Dauvillier, A. Fortelle, I. Masaki, and C. Laugier, "Towards outdoor localization using GIS, vision system and stochastic error propagation," in Proc. 2nd Int. Conf. Auton. Robots Agents, 2004, pp. 198-205.
6. G. Reitmayr and T. Drummond, "Initialisation for visual tracking in urban environments," in Proc. 6th IEEE ACM Int. Symp. Mixed Augmented Reality, 2007, pp. 1-9.
7. E. Royer, M. Lhuillier, M. Dhome, and T. Chateau, "Towards an alternative GPS sensor in dense urban environment from visual memory," in Proc. Brit. Mach. Vis. Conf., 2004, pp. 197-206.
8. S. Segvic, A. Remazeilles, A. Diosi, and F. Chaumette, "A mapping and localization framework for scalable appearance-based navigation," Comput. Vis. Image Underst., vol.113, no.2, pp. 172-187, Feb. 2009.
9. A. J. Davison, I. D. Reid, N. D. Molton, and O. Stasse, "MonoSLAM: Real-time single camera SLAM," IEEE Trans. Pattern Anal.Mach. Intell., vol.26, no.6, pp. 1052-1067, Jun. 2007.
10. R. Toledo-Moreo, M. Zamora-Izquierdo, B. Ubeda-Minarro, and F. Gomez-Skarmeta, "High-integrity IMM-EKF-based road vehicle navigation with low-cost GPS/SBAS/INS," IEEE Trans. Intell. Transp. Syst., vol.8, no.3, pp. 491-511, Sep. 2007.
11. I. Miller, B. Schimpf, and M. Campbell, "Tightly- coupled GPS/INS system design for autonomous urban navigation, IEEE/ION position," in Proc. Location Navig. Symp., 2008, pp. 1297-1310.
12. H. Alt, A. Efrat, G. Rote, and C. Wenk, "Matching planar maps," J. Algorithms, vol.49, no.2, pp. 262-283, Nov. 2003.
13. M. Winter and G. Taylor, "Modular neural networks for map-matched GPS positioning," in Proc. 4th Int. Conf. Web Inf. Syst. Eng. Workshops, 2003, pp. 106-111.
14. C. Cappelle, M. Najjar, and D. Pomorski, "Localization in urban environment using GPS and INS aided by monocular vision system and 3D geographical model," in Proc. IEEE Intell. Vehicles Symp., 2007, pp. 811-816.
15. J. Clanton, D. Bevly, and A. Hodel, "A low-cost solution for an integrated multisensor lane departure warning system," IEEE Trans. Intell. Transp. Syst., vol.10, no.1, pp. 47-59, Mar. 2009.
16. J. Meguro, T. Murata, J. Takiguchi, Y. Amano, and T. hashizume, "GPS multipath mitigation for urban area using omnidirectional infrared camera," IEEE Trans. Intell. Transp. Syst., vol.10, no.1, pp. 22-30, Mar. 2009.
17. L. Bai and Y. Wang, "Fusing image, GPS and GIS for road tracking using multiple Condensation particle filters," in Proc. Intell. Vehicle Symp., 2008, pp. 162-167.
18. Y. Wang, L. Bai, and M. Fairhurst, "Robust road detection and tracking using condensation," IEEE Trans. Intell. Transp. Syst., vol.9, no.4, pp. 570-579, Dec. 2008.
19. L. Bai, Y. Wang, and M. Fairhurst, "Multiple condensation filters for road detection and tracking," J. Pattern Anal. Applicat., 2010, DOI: 10.1007/s10044-010-0175-9, to be published.
20. M. Isard and A. Blake, "Condensation-Conditional density propagation for visual tracking," Int. J. Comput. Vis., vol.29, no.1, pp. 5-28, Aug. 1998.
21. L. Piegl and W. Tiller, "Data approximation using biarcs," Eng. Comput., vol.18, no.1, pp. 59-65, Apr. 2002.
22. B. Hummel and K. Tischler, "Robust GPS-only map matching: Exploiting vehicle position history, driving restriction information and road network topology in a statistical framework," in Proc. GISRUK, 2005, pp. 68-77.
23. M. K. Pitt and N. Shephard, "Filtering via simulation: Auxiliary particle filters," J. Amer. Stat. Assoc., vol.94, no.446, pp. 590-599, Jun. 1999.
24. J. Sullivan, A. Blake, M. Isard, and J. MacCormick, "Object localization by Bayesian correlation," in Proc. 7th IEEE Int. Conf. Comput. Vis., 1999, vol.2, pp. 1068-1075.
25. M. Spengler and B. Schiele, "Towards robust multi-cue integration for visual tracking," Mach. Vis. Appl., vol.14, no.1, pp. 50-58, Apr. 2001.
26. N. Apostoloff and A. Zelinsky, "Robust vision based lane tracking using multiple cues and particle filtering," in Proc. IEEE Intell. Vehicles Symp., 2003, pp. 558-563.
27. U. Franke, H. Loose, and C. Knoppel, "Lane recognition on country roads," in Proc. IEEE Intell. Vehicles Symp., 2007, pp. 99-104.
28. A. Blake and M. Isard, Active Contours. London, U.K.: Springer-Verlag, 1998.
29. J. MacCormick and M. Isard, "Partitioned sampling, articulated objects, and interface-quality hand tracking," in Proc. 6th Eur. Conf. Comput. Vis., 2000, pp. 3-19.
30. T. Drummond and R. Cipolla, "Real-time tracking of complex structures with on-line camera calibration," in Proc. Brit. Mach. Vis. Conf., 1999, vol.2, pp. 574-583.