Virtual 3D city model for navigation in urban areas

Journal of Intelligent and Robotic Systems: Theory and Applications

Volumn 66, Issue 3, 2012, Pages 377-399

  Cappelle, Cindy ^a   El Najjar, Maan E ^b   Charpillet, François ^b   Pomorski, Denis ^c  

^a UNIVERSITÉ DE TECHNOLOGIE DE BELFORT MONTBÉLIARD   (France)

^b UNIV LILLE   (France)

^c INRIA   (France)

Author keywords

Computer vision; GPS; Intelligent vehicle localization; Multi sensor data fusion; Obstacle detection; Virtual 3D city model

Indexed keywords

3D DATA; 3D MODELS; CURRENT IMAGE; GPS DATA; MULTISENSOR DATA FUSION; NEW SOURCES; OBSTACLE DETECTION; OBSTACLES DETECTION; ONBOARD CAMERA; PRIORI INFORMATION; UNSCENTED KALMAN FILTER; URBAN AREAS; VEHICLE LOCALIZATION; VIRTUAL 3D CITY MODEL;

CAMERAS; COMPUTER VISION; GLOBAL POSITIONING SYSTEM; INTELLIGENT VEHICLE HIGHWAY SYSTEMS; OBSTACLE DETECTORS; TRACKING (POSITION); VEHICLES; VIDEO CAMERAS;

THREE DIMENSIONAL;

EID: 84862638062     PISSN: 09210296     EISSN: 15730409     Source Type: Journal    
DOI: 10.1007/s10846-011-9594-0     Document Type: Article

References (40)

1. Georgiev, A., Allen P.K.: Localization methods for a mobile robot in urban environments. IEEE Trans. Robot. 20(5), 851-864 (2004)
2. Comport, A.I., Malis, E., Rives P.: Accurate quadrifo-cal tracking for robust 3d visual odometry. In: IEEE International Conference on Robotics and Automation 2007, pp. 40-45 (2007) (Pubitemid 350140162)
3. Comport, A.I., Marchand, E., Pressigout, M., Chaumette, F.: Real-time markerless tracking for augmented reality: the virtual visual servoing framework. IEEE Trans. Vis. Comput. Graph. 12(4), 615-628 (2006) (Pubitemid 43824572)
4. Davison, A.J.: Real-time simultaneous localisation and mapping with a single camera. In: Proceedings of the Ninth IEEE International Conference on Computer Vision ICCV '03, pp. 1403 (2003)
5. Fouque, C., Bonnifait, P.: Vehicle localization in urban canyons using geo-reference data and few GNSS-satellites. In: 6th IFAC Symposium on Intelligent Autonomous Vehicles, 3-5 Sept 2007
6. Harris, C., Stephens, M.: A combined corner and edge detector. In: Alvey Vision Conference, pp. 147-151 (1988)
7. Laugier, C., Vasquez, D., Yguel, M., Fraichard, T., Aycard, O.: Geometric and Bayesian models for safe navigation in dynamic environments. Intelligent Service Robotics 1, 51-72 (2008)
8. Wang, C.-C., Thorpe, C.E., Thrun, S., Hebert, M., Durrant-Whyte, H.F.: Simultaneous localization, mapping and moving object tracking. Int. J. Rob. Res. 26, 889-916 (2007). doi:10.1177/0278364907081229 (Pubitemid 47312699)
9. Wang, C.M.: Location estimation and uncertainty analysis for mobile robots. In: Autonomous Robot Vehicles, pp. 90-95 (1990)
10. Bernstein, D., Kornhauser, A.: Map matching for personal navigation assistants. In: 77th Annual Meeting, The Transport Research Board, 11-15 January 1988
11. Nister, D., Naroditsky, O., Bergen, J.: Visual odometry for ground vehicle applications. J. Field Rob. 23, 2006 (2006)
12. Mouragnon, E., Lhuillier, M., Dhome, M., Dekeyser, F., Sayd, P.: Real time localization and 3d reconstruction. In: Proceedings of the 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition, CVPR '06, pp. 363-370 (2006) (Pubitemid 44931352)
13. Royer, E., Bom, J., Dhome, M., Thuillot, B., Lhuillier, M., Marmoiton, F.: Outdoor autonomous navigation using monocular vision. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3395-3400 (2005)
14. Wan, E., Van der Merwe, R.: The unscented kalman filter for nonlinear estimation. In: IEEE Symposium on Adaptive Systems for Signal Processing, Communication and Control (2000)
15. Gustafsson, F., Gunnarsson, F., Bergman, N., Forssell, U., Jansson, J., Karlsson, R., Nordlund, P.: Particle filters for positioning, navigation, and tracking. IEEE Trans. Signal Process. 50, 425-437 (2002) (Pubitemid 34291522)
16. Welch, G., Bishop, G.: An Introduction to the Kalman Filter. University of North Carolina, Chapell Hill, TR 95-041 (2002)
17. Nieto, J., Bailey, T., Nebot, E.: Recursive scan-matching slam. IEEE Trans. Signal Process. 55, 39-49 (2007)
18. Tardif, J.-P., Pavlidis, Y., Daniilidis, K.: Monocular visual odometry in urban environments using an omnidirectional camera. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2008, pp. 2531-2538 (2008)
19. Kim K., Chalidabhongse T.H., Harwood D., Davis L. Real-time foreground-background segmentation using codebook model. Real-time Imaging, 11(3):172-185, 2005. (Pubitemid 40929458)
20. Clemente, L., Davison, A., Reid, I., Neira, J., Tardós, J.D.: Mapping large loops with a single hand-held camera. In: Proc. Robotics: Science and Systems Conference (2007)
21. Agrawal, M., Konolige, K.: Real-time localization in outdoor environments using stereo vision and inexpensive gps. In: 18th International Conference on Pattern Recognition, ICPR 2006, vol. 3, pp. 1063-1068 (2006) (Pubitemid 46553304)
22. Dodge, M., Doyle, S., Smith, A., Fleetwood, S.: Towards the virtual city: VR & internet GIS for urban planning. In: Virtual Reality and Geographical Information Systems Workshop (1998)
23. El Badaoui El Najjar, M., Bonnifait, P.: A road-matching method for precise vehicle localization using Kalman filtering and belief theory. J. Auton. Robots 19(2), 173-191 (2005) (Pubitemid 41213084)
24. Fishler, M.A., Bolles, R.C.: Random sample consensus: a paradigm for model fitting with applications to image analysis and automated cartography. Commun. Assoc. Comput. Mach. 24(6), 381-395 (1981)
25. Quddus, M.A., Noland, R.B., Ochieng, W.Y.: A high accuracy fuzzy logic based map matching algorithm for road transport. J. Intell. Transp. Syst. 10(3), 103-115 (2006) (Pubitemid 44180404)
26. Quddus, M.A., Ochieng, W.Y., Noland, R.B.: Current map-matching algorithms for transport applications: state-of-the-art and future research directions. In: Transportation Research C: Emerging Technologies, pp. 312-328 (2007) (Pubitemid 47364527)
27. Grewal, M.S., Weill, L.R., Andrews, A.P.: Global Positioning Systems, Inertial Navigation and Integration. Wiley, ISBN 0471-35032-X (2001)
28. Bonnifait, P., Bouron, P., Crubille, P., Meizel, D.: Data fusion of four abs sensors and gps for an enhanced localization of car-like vehicles. IEEE International Conference on Robotics and Automation, 2001. Proceedings 2001 ICRA, vol. 2, pp. 1597-1602 (2001) (Pubitemid 32815086)
29. Lothe, P., Bourgeois, S., Dekeyser, F., Royer, E., Dhome, M.: Towards geographical referencing of monocular slam reconstruction using 3d city models: application to real-time accurate vision-based localization. In: IEEE Conference on Computer Vision and Pattern Recognition (CVPR'09) (2009)
30. Bonnifait, P., Jabbour, M., Cherfaoui, V.: Autonomous navigation in urban areas using GIS-managed information. In: Special Issue in the International Journal of Vehicle Autonomous Systems on Advances in Autonomous Vehicles and Intelligent Transportation, vol. 6(1/2), pp. 84-103 (2008)
31. Laurini, R., Servigne, S.: Panorama des potentialités SIG en 3 dimensions: vers des modèles virtuels 3D de villes. Revue XYZ 114, 18-22 (2008)
32. Talluri, R., Aggarwal, J.K.: Mobile robot self-location using model-image feature correspondence. IEEE Trans. Robot. Autom. 12(1), 63-77 (1996) (Pubitemid 126780448)
33. Kalman, R.E.: A new approach to linear filtering and prediction problems. Trans. ASME, J. Basic Eng. 82, 35-45 (1960)
34. Julier, S., Uhlmann, J.: A new extension of the Kalman filter to nonlinear systems. In: International Symposium on Aerospace/Defense Sensing, Simulation and Controls (1997)
35. Renault, S., LeMeur, A., Meizel, D.: GPS/GIS localization for management of vision referenced navigation in urban environments. In: 8th International IEEE Conference on Intelligent Transportation Systems, 13-15 Sept 2005
36. Rodriguez, S., Fremont, V., Bonnifait, P.: An experiment of a 3d real-time robust visual odometry for intelligent vehicles. In: 12th International IEEE Conference on Intelligent Transportation Systems, ITSC '09, pp. 1-6 (2009)
37. Thrun, S., Liu, Y.: Multi-Robot Slam with Sparse Extended Information Filters. Springer (2003)
38. Miyasaka, T., Ohama, Y., Ninomiya, Y.: Ego-motion estimation and moving object tracking using multilayer lidar. In: IEEE Intelligent Vehicles Symposium, pp. 151-156 (2009)
39. Trung-Dung, V., Aycard, O., Appenrodt, N.: Online localization and mapping with moving object tracking in dynamic outdoor environments. In: IEEE Intelligent Vehicles Symposium, pp. 190-195 (2007)
40. Takase, Y., Sho, N., Sone, A., Shimiya, K.: Generation of digital city model. J. Viz. Soc. Jpn. 23(88), 21-27 (2003)