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GPS and IMU Require Visual Odometry for Elevation Accuracy

Baumbach, Dirk and Zhang, Hongmou and Zuev, Sergey and Wohlfeil, Jürgen and Knoche, Martin and Klette, Reinhard (2018) GPS and IMU Require Visual Odometry for Elevation Accuracy. In: Proceedings of AVSS 2018 - 2018 15th IEEE International Conference on Advanced Video and Signal-Based Surveillance. AVSS 2018 15th IEEE International Conference on Advanced Video and Signal-based Surveillance, 27-30 November 2018, Auckland, New Zealand. ISBN 978-153869294-3

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Official URL: https://avss2018.org/cfp

Abstract

Currently, self-localization of vehicles is primarily carried out by GPS receivers of different price and performance classes, which are permanently installed in vehicles. Known limitations of GPS-based localization include signal disturbances due to multipath propagation, as it may occur in narrow street canyons or tree alleys, as well as signal losses in tunnels or entrances to buildings, for example. It may happen that horizontal GPS channels still support a useful 2D positioning with low uncertainties while the GPS altitude channel has very large deviations or error uncertainties. Additional sensors (IMU or cameras) help to detect sections of trajectories where the GPS signal becomes unusable. Based on a traditional navigation strategy (i.e. integration of IMU and GPS), we also study the possible integration of visual odometry obtained from a stereo camera system. The paper reports about a large-scale project studying multi-sensor integration for very accurate and robust self-localization of vehicles.

Item URL in elib:https://elib.dlr.de/125393/
Document Type:Conference or Workshop Item (Speech, Poster)
Title:GPS and IMU Require Visual Odometry for Elevation Accuracy
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Baumbach, DirkOSUNSPECIFIED
Zhang, HongmouOSUNSPECIFIED
Zuev, SergeyOSUNSPECIFIED
Wohlfeil, JürgenOSUNSPECIFIED
Knoche, MartinN3TUNSPECIFIED
Klette, ReinhardAUTUNSPECIFIED
Date:27 November 2018
Journal or Publication Title:Proceedings of AVSS 2018 - 2018 15th IEEE International Conference on Advanced Video and Signal-Based Surveillance
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:Yes
ISBN:978-153869294-3
Status:Published
Keywords:GPS, integrated positioning system, IMU, Elevation, Visual Odometry
Event Title:AVSS 2018 15th IEEE International Conference on Advanced Video and Signal-based Surveillance
Event Location:Auckland, New Zealand
Event Type:international Conference
Event Dates:27-30 November 2018
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Transport
HGF - Program Themes:Terrestrial Vehicles (old)
DLR - Research area:Transport
DLR - Program:V BF - Bodengebundene Fahrzeuge
DLR - Research theme (Project):V - Fahrzeugintelligenz (old)
Location: Berlin-Adlershof
Institutes and Institutions:Institute of Optical Sensor Systems > Real-Time Data Processing
Deposited By: Zhang, Hongmou
Deposited On:08 Jan 2019 09:25
Last Modified:07 Aug 2019 10:11

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