gps-denied geo-localisation using visual odometry - ISPRS Annals

of a mobile platform. This trajectory is estimated using visual odometry and 3D view geometry. ..... repeated measurement, reliable feature points can...

0 downloads 0 Views 9MB Size

Recommend Documents

Dec 8, 2011 - Visual odometry (VO) is the process of estimating the egomotion of an agent (e.g., vehicle, human, and robot) using only the input of a single or multiple cameras attached to it. Application domains include robotics, wearable computing,

LACO-Wiki integrates the LACOVAL prototype for land cover validation and the Geo-Wiki ... developed for validating land cover data sets from government.

Jul 15, 2015 - flat geographical space and accumulated around the moving trajectory in the unified ..... illustrated in Figure 6, the right side is the first floor plan. The blue line is the .... IEEE Signal Processing Magazine, 23(2), pp. 18. Zhou,

Aug 22, 2011 - Abstract. In dense, urban environments, GPS by itself cannot be relied on to provide accurate positioning information. Signal reception issues. (e.g. occlusion, multi-path effects) often prevent the GPS receiver from getting a position

approachable as it is without these revolutionary linear algebra and deep learning libraries which support the popular language Python. .... used is Ubuntu 16.04 LTS. The programs written as part of this project primarily use Python 3.5.2. The Python

Sep 2, 2013 - heritage professionals, and industry leaders in software development to ... management of new buildings. (Butler 2011 ... If this is the case, it is imperative that professionals .... However, while the craftsmanship demonstrated.

This paper proposes a robust visual odometry algorithm us- ing a Kinect-style ... an IMU, the generated 3-D feature points are rotated in order to have the same ... estimating specific model parameters, like a line, plane, sphere, rotation, etc. To.

Apr 4, 2016 - Direct Visual Odometry using Bit-Planes. Hatem Alismail, Brett Browning, and Simon Lucey. The Robotics Institute. Carnegie Mellon University. Pittsburgh, PA 15213. {halismai,brettb,slucey} Abstract—Feature descriptors, suc

respect to the previous camera frame or a static world reference frame. Usually, this localization task is performed using GPS or wheel speed sensors. In recent ...

KEY WORDS: point cloud data structure, classification, feature extraction, segmentation, data mining, machine learning, multi- ... Dealing with coloured point cloud acquired from terrestrial laser scanner, this paper identifies remaining challenges f

A large body of research work exists in the automotive community related to traction control, ...... Bosch Group, Automotive Handbook, 5th edn. Robert Bosch ...

Keywords—Corobots, odometry, Kinect, key points, features, point cloud library ... up robust features), SIFT(Scale-invariant feature transform),. FAST(Features from ..... (30-100 cm) in straight lines to make shape of square, right angles, turns of

Jul 27, 2017 - ments [6,11] as well as on board the Mars Exploration Rovers (MERs) [3,13]. ... RO] 27 Jul 2017 ..... Ma et al. [12] show that Sun-CNN substantially outperforms [10] in terms of azimuth .... J. Field Robotics, 27(5):534–560, Sept.

Mar 25, 2015 - compare 3D coordinates on check points (CPs) and evaluate cross sections and residuals on generated point cloud surfaces. ... platform and multi-perspective aerial and close-range photogrammetry. This is due to the great developments o

Jul 15, 2015 - The method is applied to trajectory clustering on taxi trajectory data, which are on the ... 2. METHOD OF TRAJECTORY CLUSTERING BASED.

The descriptor learning architecture is composed of an input module, a. Siamese CNN ... planar and 3D scenes, using recall and matching precision as the main ... manual manner, for instance SIFT (Lowe, 2004) or SURF (Bay ..... max (2 x 2).

visual odometry has been improved using visual compass method for orientation ... particular features of off-road conditions, such as a noisy .... velocity vector between these pairs of points is calculated ..... displacement is marked by the green l

Jul 15, 2015 - KEY WORDS: LUCC, CA-Markov Model, Dynamic Modelling, Optimized ..... International Journal Geographical Information Science, 19(2),.

analysis showed that AI offers new opportunities to land use suitability analysis ... (1999) suggested,. “A GA can be a key component of the land-use planning and .... answer is called “The Best Solution” which is obtained from a N × N matrix 

Android operating system (a and b)2 , and the system used later in this article (c). Because of the low quality sensors commonly built into mobile devices, initial ...

In this work, an automated approach for 3D building roof modelling is presented. The method .... building roofs, which do not have planar surfaces, other objects.

Nov 12, 2013 - With the exception of pure data-driven methods, reconstruction approaches for 3D building models from aerial point clouds often incorporate some level of model information to construct regularized and well-formed roof structures. In th

surface. RF generator. Agilent Technologies – E8257D. Power sensor. Agilent Technologies – E9372A. Central frequency of the system. 10 GHz. Antenna type.

Mar 25, 2015 - road, and cross sections at specified intervals. Also, we have extracted buildings and vegetation within a predetermined proximity to.