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Multi-sensors data fusion using dynamic bayesian network for robotised vehicle geo-localisation

Cindy Cappelle 1, * Maan El Badaoui El Najjar 2 Denis Pomorski 2 François Charpillet 3
* Corresponding author
1 LAGIS - Laboratoire d'Automatique, Génie Informatique et Signal
2 STF - Systèmes Tolérants aux Fautes
CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189
3 MAIA - Autonomous intelligent machine
INRIA Lorraine, LORIA - Laboratoire Lorrain de Recherche en Informatique et ses Applications
Abstract : This paper presents an outdoor geolocalisation method, which integrates several information sources: measurements from GPS, incremental encoders and gyroscope, 2D images provided by an on-board camera and a virtual 3D city model. A 3D cartographical observation of the vehicle pose is constructed. This observation is based on the matching between the acquired 2D images and the virtual 3D city model. This estimation is especially useful during long GPS outages to correct the drift of the only dead-reckoning localisation or when the GPS quality is deteriorated due to multi-path, satellites masks and so on particularly in urban environments. Moreover, the various sensors measurements are fused in Dynamic Bayesian Network formalism in order to provide a continuous estimation of the pose.
Keywords : Geo-localisation Virtual 3D City Model 3D Geographical Information System (3D-GIS) Global Positioning System (GPS) Vision Dynamic Bayesian Network (DBN) 2D/3D Matching
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Conference papers
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https://hal.inria.fr/inria-00332441
Contributor : Cindy Cappelle <>
Submitted on : Tuesday, October 21, 2008 - 9:20:16 AM
Last modification on : Friday, February 26, 2021 - 3:28:04 PM

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  • HAL Id : inria-00332441, version 1

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CNRS | INRIA | LAGIS | LORIA | UNIV-LORRAINE | CRISTAL | UNIV-LILLE

Citation

Cindy Cappelle, Maan El Badaoui El Najjar, Denis Pomorski, François Charpillet. Multi-sensors data fusion using dynamic bayesian network for robotised vehicle geo-localisation. 11th International Conference on Information Fusion, Jul 2008, Cologne, Germany. pp.1-8. ⟨inria-00332441⟩

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