Localization in urban environments by matching ground level video images with an aerial image

This paper presents the design of a monocular vision based particle filter localization system for urban settings that uses aerial orthoimagery as the reference map. One of the design objectives is to provide a low cost method for outdoor localization using a single camera. This relaxes the need for...

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Bibliographic Details
Published in2008 IEEE International Conference on Robotics and Automation pp. 551 - 556
Main Authors Leung, K.Y.K., Clark, C.M., Huissoon, J.P.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.05.2008
Subjects
Buildings
Cameras
Degradation
Global Positioning System
Image databases
Image processing
Navigation
Particle filters
Robot sensing systems
Robot vision systems
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ISBN1424416469
9781424416462
ISSN1050-4729
DOI10.1109/ROBOT.2008.4543264

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Summary:This paper presents the design of a monocular vision based particle filter localization system for urban settings that uses aerial orthoimagery as the reference map. One of the design objectives is to provide a low cost method for outdoor localization using a single camera. This relaxes the need for global positioning system (GPS) which may experience degraded reliability in urban settings. The second objective is to study the achievable localization performance with the aforementioned resources. Image processing techniques are employed to create a feature map from an aerial image, and also to extract features from camera images to provide observations that are used by a particle filter for localization.
ISBN:1424416469
9781424416462
ISSN:1050-4729
DOI:10.1109/ROBOT.2008.4543264