Sub-meter vehicle navigation using efficient pre-mapped visual landmarks

Han Pang Chiu; Mikhail Sizintsev; Xun S. Zhou; Philip Miller; Supun Samarasekera; Rakesh Kumar

doi:10.1109/itsc.2016.7795602

Sub-meter vehicle navigation using efficient pre-mapped visual landmarks

Han Pang Chiu
, Mikhail Sizintsev
, Xun S. Zhou
, Philip Miller
, Supun Samarasekera
, Rakesh Kumar

SRI International

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

5 Scopus citations

Abstract

This paper presents a vehicle navigation system that is capable of achieving sub-meter GPS-denied navigation accuracy in large-scale urban environments, using pre-mapped visual landmarks. Our navigation system tightly couples IMU data with local feature track measurements, and fuses each observation of a pre-mapped visual landmark as a single global measurement. This approach propagates precise 3D global pose estimates for longer periods. Our mapping pipeline leverages a dual-layer architecture to construct high-quality pre-mapped visual landmarks in real time. Experimental results demonstrate that our approach provides sub-meter GPS-denied navigation solutions in large-scale urban scenarios.

Original language	English
Title of host publication	2016 IEEE 19th International Conference on Intelligent Transportation Systems, ITSC 2016
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	505-512
Number of pages	8
ISBN (Electronic)	9781509018895
DOIs	https://doi.org/10.1109/itsc.2016.7795602
State	Published - 22 Dec 2016
Externally published	Yes
Event	19th IEEE International Conference on Intelligent Transportation Systems, ITSC 2016 - Rio de Janeiro, Brazil Duration: 1 Nov 2016 → 4 Nov 2016

Publication series

Name	IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC
Volume	0
ISSN (Electronic)	2153-0017

Conference

Conference	19th IEEE International Conference on Intelligent Transportation Systems, ITSC 2016
Country/Territory	Brazil
City	Rio de Janeiro
Period	1/11/16 → 4/11/16

Bibliographical note

Publisher Copyright:
© 2016 IEEE.

Access to Document

10.1109/itsc.2016.7795602

Cite this

Chiu, H. P., Sizintsev, M., Zhou, X. S., Miller, P., Samarasekera, S., & Kumar, R. (2016). Sub-meter vehicle navigation using efficient pre-mapped visual landmarks. In 2016 IEEE 19th International Conference on Intelligent Transportation Systems, ITSC 2016 (pp. 505-512). Article 7795602 (IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC; Vol. 0). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/itsc.2016.7795602

Chiu, Han Pang ; Sizintsev, Mikhail ; Zhou, Xun S. et al. / Sub-meter vehicle navigation using efficient pre-mapped visual landmarks. 2016 IEEE 19th International Conference on Intelligent Transportation Systems, ITSC 2016. Institute of Electrical and Electronics Engineers Inc., 2016. pp. 505-512 (IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC).

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title = "Sub-meter vehicle navigation using efficient pre-mapped visual landmarks",

abstract = "This paper presents a vehicle navigation system that is capable of achieving sub-meter GPS-denied navigation accuracy in large-scale urban environments, using pre-mapped visual landmarks. Our navigation system tightly couples IMU data with local feature track measurements, and fuses each observation of a pre-mapped visual landmark as a single global measurement. This approach propagates precise 3D global pose estimates for longer periods. Our mapping pipeline leverages a dual-layer architecture to construct high-quality pre-mapped visual landmarks in real time. Experimental results demonstrate that our approach provides sub-meter GPS-denied navigation solutions in large-scale urban scenarios.",

author = "Chiu, \{Han Pang\} and Mikhail Sizintsev and Zhou, \{Xun S.\} and Philip Miller and Supun Samarasekera and Rakesh Kumar",

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year = "2016",

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doi = "10.1109/itsc.2016.7795602",

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Chiu, HP, Sizintsev, M, Zhou, XS, Miller, P, Samarasekera, S & Kumar, R 2016, Sub-meter vehicle navigation using efficient pre-mapped visual landmarks. in 2016 IEEE 19th International Conference on Intelligent Transportation Systems, ITSC 2016., 7795602, IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC, vol. 0, Institute of Electrical and Electronics Engineers Inc., pp. 505-512, 19th IEEE International Conference on Intelligent Transportation Systems, ITSC 2016, Rio de Janeiro, Brazil, 1/11/16. https://doi.org/10.1109/itsc.2016.7795602

Sub-meter vehicle navigation using efficient pre-mapped visual landmarks. / Chiu, Han Pang; Sizintsev, Mikhail; Zhou, Xun S. et al.
2016 IEEE 19th International Conference on Intelligent Transportation Systems, ITSC 2016. Institute of Electrical and Electronics Engineers Inc., 2016. p. 505-512 7795602 (IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC; Vol. 0).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AB - This paper presents a vehicle navigation system that is capable of achieving sub-meter GPS-denied navigation accuracy in large-scale urban environments, using pre-mapped visual landmarks. Our navigation system tightly couples IMU data with local feature track measurements, and fuses each observation of a pre-mapped visual landmark as a single global measurement. This approach propagates precise 3D global pose estimates for longer periods. Our mapping pipeline leverages a dual-layer architecture to construct high-quality pre-mapped visual landmarks in real time. Experimental results demonstrate that our approach provides sub-meter GPS-denied navigation solutions in large-scale urban scenarios.

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Chiu HP, Sizintsev M, Zhou XS, Miller P, Samarasekera S, Kumar R. Sub-meter vehicle navigation using efficient pre-mapped visual landmarks. In 2016 IEEE 19th International Conference on Intelligent Transportation Systems, ITSC 2016. Institute of Electrical and Electronics Engineers Inc. 2016. p. 505-512. 7795602. (IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC). doi: 10.1109/itsc.2016.7795602

Sub-meter vehicle navigation using efficient pre-mapped visual landmarks

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