TY - JOUR

T1 - Cooperative localisation using image sensors in a dynamic traffic scenario

AU - Trusheim, P.

AU - Chen, Y.

AU - Rottensteiner, F.

AU - Heipke, C.

N1 - Funding Information: This work was supported by the German Research Foundation (DFG) as a part of the Research Training Group i.c.sens [GRK2159].

PY - 2021/6/28

Y1 - 2021/6/28

N2 - Localisation is one of the key elements in navigation. Especially due to the development in automated driving, precise and reliable localisation becomes essential. In this paper, we report on different cooperation approaches in visual localisation with two vehicles driving in a convoy formation. Each vehicle is equipped with a multi-sensor platform consisting of front-facing stereo cameras and a global navigation satellite system (GNSS) receiver. In the first approach, the GNSS signals are used as excentric observations for the projection centres of the cameras in a bundle adjustment, whereas the second approach uses markers on the front vehicle as dynamic ground control points (GCPs). As the platforms are moving and data acquisition is not synchronised, we use time dependent platform poses. These time dependent poses are represented by trajectories consisting of multiple 6 Degree of Freedom (DoF) anchor points between which linear interpolation takes place. In order to investigate the developed approach experimentally, in particular the potential of dynamic GCPs, we captured data using two platforms driving on a public road at normal speed. As a baseline, we determine the localisation parameters of one platform using only data of that platform. We then compute a solution based on image and GNSS data from both platforms. In a third scenario, the front platform is used as a dynamic GCP which can be related to the trailing platform by markers observed in the images acquired by the latter. We show that both cooperative approaches lead to significant improvements in the precision of the poses of the anchor points after bundle adjustment compared to the baseline. The improvement achieved due to the inclusion of dynamic GCPs is somewhat smaller than the one due to relating the platforms by tie points. Finally, we show that for an individual vehicle, the use of dynamic GCPs can compensate for the lack of GNSS data.

AB - Localisation is one of the key elements in navigation. Especially due to the development in automated driving, precise and reliable localisation becomes essential. In this paper, we report on different cooperation approaches in visual localisation with two vehicles driving in a convoy formation. Each vehicle is equipped with a multi-sensor platform consisting of front-facing stereo cameras and a global navigation satellite system (GNSS) receiver. In the first approach, the GNSS signals are used as excentric observations for the projection centres of the cameras in a bundle adjustment, whereas the second approach uses markers on the front vehicle as dynamic ground control points (GCPs). As the platforms are moving and data acquisition is not synchronised, we use time dependent platform poses. These time dependent poses are represented by trajectories consisting of multiple 6 Degree of Freedom (DoF) anchor points between which linear interpolation takes place. In order to investigate the developed approach experimentally, in particular the potential of dynamic GCPs, we captured data using two platforms driving on a public road at normal speed. As a baseline, we determine the localisation parameters of one platform using only data of that platform. We then compute a solution based on image and GNSS data from both platforms. In a third scenario, the front platform is used as a dynamic GCP which can be related to the trailing platform by markers observed in the images acquired by the latter. We show that both cooperative approaches lead to significant improvements in the precision of the poses of the anchor points after bundle adjustment compared to the baseline. The improvement achieved due to the inclusion of dynamic GCPs is somewhat smaller than the one due to relating the platforms by tie points. Finally, we show that for an individual vehicle, the use of dynamic GCPs can compensate for the lack of GNSS data.

KW - Bundle Adjustment

KW - Cooperative Localisation

KW - Dynamic Ground Control Points

KW - Visual Localisation

UR - http://www.scopus.com/inward/record.url?scp=85118892949&partnerID=8YFLogxK

U2 - 10.5194/isprs-archives-XLIII-B1-2021-117-2021

DO - 10.5194/isprs-archives-XLIII-B1-2021-117-2021

M3 - Conference article

AN - SCOPUS:85118892949

VL - 43

SP - 117

EP - 124

JO - International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences - ISPRS Archives

JF - International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences - ISPRS Archives

SN - 1682-1750

IS - B1-2021

T2 - 2021 24th ISPRS Congress Commission I: Imaging Today, Foreseeing Tomorrow

Y2 - 5 July 2021 through 9 July 2021

ER -