Development of a positioning technique for an Urban area using omnidirectional infrared camera and aerial survey data

Jun Ichi Meguro, Taishi Murata, Yoshiharu Amano, Takumi Hasizume, Jun Ichi Takiguchi

    Research output: Contribution to journalArticle

    5 Citations (Scopus)

    Abstract

    This paper describes an outdoor positioning system for vehicles that can be applied to an urban canyon by using an omnidirectional infrared (IR) camera and a digital surface model (DSM). By means of omnidirectional IR images, this system enables robust positioning in urban areas where satellite invisibility caused by buildings hampers high-precision GPS measurements. The omnidirectional IR camera can generate IR images with an elevation of 20-70° for the surrounding area of 360°. The image captured by the camera is highly robust to light disturbances in the outdoor environment. Through the IR camera, the sky appears distinctively dark; this enables easy detection of the border between the sky and the buildings captured in white due to the difference in the atmospheric transmittance rate between visible light and IR rays. The omnidirectional image, which includes several building profiles, is compared with building-restoration images produced by the corresponding DSM in order to determine the self-position. Field experiments in an urban area show that the proposed outdoor positioning method is valid and effective, even if high-rise buildings cause satellite blockage that affects GPS measurements.

    Original languageEnglish
    Pages (from-to)731-747
    Number of pages17
    JournalAdvanced Robotics
    Volume22
    Issue number6
    DOIs
    Publication statusPublished - 2008 Jun 1

    Fingerprint

    Cameras
    Antennas
    Infrared radiation
    Global positioning system
    Satellites
    Image reconstruction
    Experiments

    Keywords

    • Digital surface model
    • Infrared camera
    • ITS
    • Mobile robot
    • Positioning

    ASJC Scopus subject areas

    • Control and Systems Engineering

    Cite this

    Development of a positioning technique for an Urban area using omnidirectional infrared camera and aerial survey data. / Meguro, Jun Ichi; Murata, Taishi; Amano, Yoshiharu; Hasizume, Takumi; Takiguchi, Jun Ichi.

    In: Advanced Robotics, Vol. 22, No. 6, 01.06.2008, p. 731-747.

    Research output: Contribution to journalArticle

    Meguro, Jun Ichi ; Murata, Taishi ; Amano, Yoshiharu ; Hasizume, Takumi ; Takiguchi, Jun Ichi. / Development of a positioning technique for an Urban area using omnidirectional infrared camera and aerial survey data. In: Advanced Robotics. 2008 ; Vol. 22, No. 6. pp. 731-747.
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