Virtual 3D City Model for Navigation in Urban Areas |
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Authors: | Cindy Cappelle Maan E El Najjar Fran?ois Charpillet Denis Pomorski |
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Affiliation: | 1. Laboratoire Syst??mes et Transports (SeT), Universit?? de Technologie de Belfort-Montb??liard (UTBM), Belfort, France 2. Laboratoire d??Automatique, G??nie Informatique et Signal (LAGIS), Universit?? Lille Nord de France, Lille, France 3. Laboratoire Lorrain d??Informatique et ses Applications (LORIA), Institut National de Recherche en Informatique et Automatique (INRIA), Nancy, France
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Abstract: | In this paper, we propose to study the integration of a new source of a priori information, which is the virtual 3D city model.
We study this integration for two tasks: vehicles geo-localization and obstacles detection. A virtual 3D city model is a realistic
representation of the evolution environment of a vehicle. It is a database of geographical and textured 3D data. We describe
an ego-localization method that combines measurements of a GPS (Global Positioning System) receiver, odometers, a gyrometer,
a video camera and a virtual 3D city model. GPS is often consider as the main sensor for localization of vehicles. But, in
urban areas, GPS is not precise or even can be unavailable. So, GPS data are fused with odometers and gyrometer measurements
using an Unscented Kalman Filter (UKF). However, during long GPS unavailability, localization with only odometers and gyrometer
drift. Thus, we propose a new observation of the location of the vehicle. This observation is based on the matching between
the current image acquired by an on-board camera and the virtual 3D city model of the environment. We also propose an obstacle
detection method based on the comparison between the image acquired by the on-board camera and the image extracted from the
3D model. The following principle is used: the image acquired by the on-board camera contains the possible dynamic obstacles
whereas they are absent from the 3D model. The two proposed concepts are tested on real data. |
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