Advanced 3D localization by fusing measurements from GPS, inertial and vision sensors

@article{Ababsa2009Advanced3L,
  title={Advanced 3D localization by fusing measurements from GPS, inertial and vision sensors},
  author={Fakhreddine Ababsa},
  journal={2009 IEEE International Conference on Systems, Man and Cybernetics},
  year={2009},
  pages={871-875}
}
In this paper we present an efficient algorithm for estimating the 3D localization in an urban environments by fusing measurements from GPS receiver, inertial sensor and vision. Such hybrid sensor is important for numerous applications including outdoor mobile augmented reality and 3D robot localization. Our approach is based on non-linear filtering of these complementary sensors using a multi-rate Extended Kalman Filter. Our main contributions concern the modeling of the sensor fusion and the… CONTINUE READING

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