Details
| Original language | English |
|---|---|
| Pages (from-to) | 85-90 |
| Number of pages | 6 |
| Journal | International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences - ISPRS Archives |
| Volume | 38 |
| Issue number | 3W22 |
| Publication status | Published - 26 Apr 2013 |
| Event | 2011 ISPRS Worshop on Photogrammetric Image Analysis, PIA 2011 - Munich, Germany Duration: 5 Oct 2011 → 7 Oct 2011 |
Abstract
Driving autonomously requires highly accurate positioning. Therefore, alternative positioning systems to GPS are required especially to increase the accuracy, and to have a complementary data source in areas where GPS is not available. As more and more on-board sensors are used for safety reasons, information gathered about their environment can be used for positioning based on relative measurements to landmarks along the road. This paper investigates the accuracy potential of positioning using a stereo camera system and landmark maps. Therefore, we simulated several stereo camera systems with variable opening angle and base length to compute the positioning accuracy in a test area. In the first step, localization was calculated based on single positions, in the second step we used a Kalman filter additionally. While positioning in the first case was not successful along the entire trajectory, the Kalman filter led to far better results.
Keywords
- Accuracy, Geometry, Mobile mapping, Navigation, Quality, Reference data, Simulation, Stereo camera
ASJC Scopus subject areas
- Computer Science(all)
- Information Systems
- Social Sciences(all)
- Geography, Planning and Development
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In: International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences - ISPRS Archives, Vol. 38, No. 3W22, 26.04.2013, p. 85-90.
Research output: Contribution to journal › Conference article › Research › peer review
}
TY - JOUR
T1 - Quality assessment of landmark based positioning using stereo cameras
AU - Hofmann, Sabine
AU - Schulze, Malte Jan
AU - Sester, Monika
AU - Brenner, Claus
PY - 2013/4/26
Y1 - 2013/4/26
N2 - Driving autonomously requires highly accurate positioning. Therefore, alternative positioning systems to GPS are required especially to increase the accuracy, and to have a complementary data source in areas where GPS is not available. As more and more on-board sensors are used for safety reasons, information gathered about their environment can be used for positioning based on relative measurements to landmarks along the road. This paper investigates the accuracy potential of positioning using a stereo camera system and landmark maps. Therefore, we simulated several stereo camera systems with variable opening angle and base length to compute the positioning accuracy in a test area. In the first step, localization was calculated based on single positions, in the second step we used a Kalman filter additionally. While positioning in the first case was not successful along the entire trajectory, the Kalman filter led to far better results.
AB - Driving autonomously requires highly accurate positioning. Therefore, alternative positioning systems to GPS are required especially to increase the accuracy, and to have a complementary data source in areas where GPS is not available. As more and more on-board sensors are used for safety reasons, information gathered about their environment can be used for positioning based on relative measurements to landmarks along the road. This paper investigates the accuracy potential of positioning using a stereo camera system and landmark maps. Therefore, we simulated several stereo camera systems with variable opening angle and base length to compute the positioning accuracy in a test area. In the first step, localization was calculated based on single positions, in the second step we used a Kalman filter additionally. While positioning in the first case was not successful along the entire trajectory, the Kalman filter led to far better results.
KW - Accuracy
KW - Geometry
KW - Mobile mapping
KW - Navigation
KW - Quality
KW - Reference data
KW - Simulation
KW - Stereo camera
UR - http://www.scopus.com/inward/record.url?scp=84923882454&partnerID=8YFLogxK
M3 - Conference article
AN - SCOPUS:84923882454
VL - 38
SP - 85
EP - 90
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 - 3W22
T2 - 2011 ISPRS Worshop on Photogrammetric Image Analysis, PIA 2011
Y2 - 5 October 2011 through 7 October 2011
ER -