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Localisation in urban environment using GPS and INS aided by monocular vision system and 3D geographical model

Cindy Cappelle 1 Maan El Badaoui El Najjar 2, 3 Denis Pomorski 3 François Charpillet 2
2 MAIA - Autonomous intelligent machine
INRIA Lorraine, LORIA - Laboratoire Lorrain de Recherche en Informatique et ses Applications
3 STF - Systèmes Tolérants aux Fautes
CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189
Abstract : In this paper, a geo-localisation method was proposed, using GPS, INS, monovision camera and a new geo-information source, which is the 3D cartographical model. A 3D-GIS (Geographical Information System) has been developed to manipulate and navigate in a precise 3D cartographical model database. To have a continuous pose estimation, an EKF has been implemented to fuse GPS and INS. To integrate the 3D cartographical model information, a 3D cartographical observation has been constructed using 2D/3D images matching between real image captured by the embedded camera and virtual images provided by the 3D-GIS. A real data acquisition platform has been developed to test and validate the proposed method.
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https://hal.inria.fr/inria-00172669
Contributor : Maan El Badaoui El Najjar <>
Submitted on : Monday, September 17, 2007 - 4:06:37 PM
Last modification on : Friday, February 26, 2021 - 3:28:04 PM

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  • HAL Id : inria-00172669, version 1

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Cindy Cappelle, Maan El Badaoui El Najjar, Denis Pomorski, François Charpillet. Localisation in urban environment using GPS and INS aided by monocular vision system and 3D geographical model. 2007 IEEE Intelligent Vehicles Symposium (IV'07), Jun 2007, Istanbul, Turkey. ⟨inria-00172669⟩

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