Tightly-Coupled GNSS/Vision Using a Sky-Pointing Camera for Vehicle Navigation in Urban Areas.

ABSTRACT: This paper presents a method of fusing the ego-motion of a robot or a land vehicle estimated from an upward-facing camera with Global Navigation Satellite System (GNSS) signals for navigation purposes in urban environments. A sky-pointing camera is mounted on the top of a car and synchronized with a GNSS receiver. The advantages of this configuration are two-fold: firstly, for the GNSS signals, the upward-facing camera will be used to classify the acquired images into sky and non-sky (also known as segmentation). A satellite falling into the non-sky areas (e.g., buildings, trees) will be rejected and not considered for the final position solution computation. Secondly, the sky-pointing camera (with a field of view of about 90 degrees) is helpful for urban area ego-motion estimation in the

SUBMITTER: Gakne PV 

PROVIDER: S-EPMC5948580 | biostudies-literature | 2018 Apr

REPOSITORIES: biostudies-literature