Image based assistant localization in urban navigation

Author

Zhu, Hao ; Zhao, Guangzhe ; Wang, Jianhong

Author_Institution

Sch. of Automobile Eng., Harbin Inst. of Technol. at Weihai, Weihai, China

fYear

2009

fDate

3-5 June 2009

Firstpage

388

Lastpage

392

Abstract

The paper describes such a prototype of a system that can make the urban navigation robust when GPS signal is lost. By making a database of images which usually extracted from texture of building facade and match to the geo-info point in GIS, the system can calculate the pose of a query. Our method is based on SURF (speed-up robust feature) that can recognize matching facades in two views even if there is change of viewpoint and illumination. In addition homograph is introduced to estimate the pose of viewpoint. Also, a discussion of this application in urban navigation and a conclusion with the weakness of the system are given in the final.

Keywords

feature extraction; geographic information systems; pose estimation; GIS; geographic information systems; homograph; image based assistant localization; speed-up robust feature; urban navigation; Geographic Information Systems; Global Positioning System; Image databases; Inertial navigation; Measurement units; Mobile robots; Prototypes; Robustness; Satellite navigation systems; Urban planning;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Vehicles Symposium, 2009 IEEE

Conference_Location

Xi´an

ISSN

1931-0587

Print_ISBN

978-1-4244-3503-6

Electronic_ISBN

1931-0587

Type

conf

DOI

10.1109/IVS.2009.5164309

Filename

5164309