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

*この研究の対応する著者

研究成果: Article査読

6 被引用数 (Scopus)

抄録

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.

本文言語English
ページ(範囲)731-747
ページ数17
ジャーナルAdvanced Robotics
22
6
DOI
出版ステータスPublished - 2008 6 1

ASJC Scopus subject areas

  • 制御およびシステム工学
  • ソフトウェア
  • 人間とコンピュータの相互作用
  • ハードウェアとアーキテクチャ
  • コンピュータ サイエンスの応用

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