NDLI: City GPS using stereo vision

Content Provider	IEEE Xplore Digital Library
Author	Lategahn, H. Stiller, C.
Copyright Year	2012
Description	Author affiliation: Institute of Measurement and Control, Karlsruhe Institute of Technology, Germany (Lategahn, H.; Stiller, C.)
Abstract	Next generation driver assistance systems require a precise localization. However, global navigation satellite systems (GNSS) often exhibit a paucity of accuracy due to shadowing effects in street canyon like scenarios rendering this solution insufficient for many tasks. Alternatively 3D laser scanners can be utilized to localize the vehicle within a previously recorded 3D map. These scanners however, are expensive and bulky hampering a wide spread use. Herein we propose to use stereo cameras to localize the ego vehicle within a previously computed visual 3D map. The proposed localization solution is low cost, precise and runs in real time. The map is computed once and kept fixed thereafter using cameras as sole sensors without GPS readings. The presented mapping algorithm is largely inspired by current state of the art simultaneous localization and mapping (SLAM) methods. Moreover, the map merely consists of a sparse set of landmark points keeping the map storage manageably low.
Starting Page	1
Ending Page	6
File Size	1436384
Page Count	6
File Format	PDF
ISBN	9781467309929
e-ISBN	9781467309936
DOI	10.1109/ICVES.2012.6294279
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-07-24
Publisher Place	Turkey
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Visualization Cameras Feature extraction Vectors Least squares approximation Vehicles Global Positioning System
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Libarray of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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