Management of Landmarks in a GIS for an Enhanced Localisation in Urban Areas

Author

Jabbour, Maged ; Cherfaoui, Véronique ; Bonnifait, Philippe

Author_Institution

Heudiasyc UMR CNRS, Univ. de Technologie de Compiegne

fYear

0

fDate

0-0 0

Firstpage

50

Lastpage

57

Abstract

This paper addresses the problem of localizing a vehicle in urban environment by using natural information provided by exteroceptive sensors. For this purpose, sensors need to detect landmarks which have been characterized in a previous passage. As the amount of data can be significantly large, we propose a strategy to manage this information in a GIS (geographical information system). We illustrate our developments using visual landmarks made of key images and 3D points that are regrouped in local maps that correspond to the roads of a GIS layer thanks to the use of GPS data and proprioceptive sensors. Real experiments are reported to illustrate the performance of this approach which is robust to GPS outages due to poor satellite visibility in urban areas

Keywords

geographic information systems; traffic engineering computing; GIS; exteroceptive sensors; geographical information system; landmark management; urban areas; vehicle localization; Geographic Information Systems; Global Positioning System; Image sensors; Information management; Management information systems; Roads; Robustness; Sensor phenomena and characterization; Urban areas; Vehicles; GIS; GPS; Precise localization; natural landmarks;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Vehicles Symposium, 2006 IEEE

Conference_Location

Tokyo

Print_ISBN

4-901122-86-X

Type

conf

DOI

10.1109/IVS.2006.1689604

Filename

1689604