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

@article{Cappelle2007LocalisationIU,
  title={Localisation in urban environment using GPS and INS aided by monocular vision system and 3D geographical model},
  author={Cindy Cappelle and Maan El Badaoui El Najjar and Denis Pomorski and François Charpillet},
  journal={2007 IEEE Intelligent Vehicles Symposium},
  year={2007},
  pages={811-816}
}
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… CONTINUE READING