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

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 the real image captured by the embedded camera and the virtual images provided by the 3D-GIS. A real data acquisition platform has been developed to test and validate the proposed method.