Mapping and Localization in Urban Environments Using Cameras PDF Download
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Author: Henning Lategahn
Publisher: KIT Scientific Publishing
ISBN: 373150135X
Category : Computers
Languages : en
Pages : 146
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Book Description
In this work we present a system to fully automatically create a highly accurate visual feature map from image data acquired from within a moving vehicle. Moreover, a system for high precision self localization is presented. Furthermore, we present a method to automatically learn a visual descriptor. The map relative self localization is centimeter accurate and allows autonomous driving.
Author: Henning Lategahn
Publisher: KIT Scientific Publishing
ISBN: 373150135X
Category : Computers
Languages : en
Pages : 146
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Book Description
In this work we present a system to fully automatically create a highly accurate visual feature map from image data acquired from within a moving vehicle. Moreover, a system for high precision self localization is presented. Furthermore, we present a method to automatically learn a visual descriptor. The map relative self localization is centimeter accurate and allows autonomous driving.
Author: Yu Wang (docteur en informatique).)
Publisher:
ISBN:
Category :
Languages : en
Pages : 0
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Book Description
Nowadays, stand-alone Global Navigation Satellite System (GNSS) positioning accuracy is not sufficient for a growing number of land users. Sub-meter or even centimeter accuracy is becoming more and more crucial in many applications. Especially for navigating rovers in the urban environment, final positioning accuracy can be worse as the dramatically lack and contaminations of GNSS measurements. To achieve a more accurate positioning, the GNSS carrier phase measurements appear mandatory. These measurements have a tracking error more precise by a factor of a hundred than the usual code pseudorange measurements. However, they are also less robust and include a so-called integer ambiguity that prevents them to be used directly for positioning. While carrier phase measurements are widely used in applications located in open environments, this thesis focuses on trying to use them in a much more challenging urban environment. To do so, Real Time-Kinematic (RTK) methodology is used, which is taking advantage on the spatially correlated property of most code and carrier phase measurements errors. Besides, the thesis also tries to take advantage of a dual GNSS constellation, GPS and GLONASS, to strengthen the position solution and the reliable use of carrier phase measurements. Finally, to make up the disadvantages of GNSS in urban areas, a low-cost MEMS is also integrated to the final solution. Regarding the use of carrier phase measurements, a modified version of Partial Integer Ambiguity Resolution (Partial-IAR) is proposed to convert as reliably as possible carrier phase measurements into absolute pseudoranges. Moreover, carrier phase Cycle Slip (CS) being quite frequent in urban areas, thus creating discontinuities of the measured carrier phases, a new detection and repair mechanism of CSs is proposed to continuously benefit from the high precision of carrier phases. Finally, tests based on real data collected around Toulouse are used to test the performance of the whole methodology.
Author: Sara Paiva
Publisher: Springer Nature
ISBN: 3030712885
Category : Technology & Engineering
Languages : en
Pages : 183
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Book Description
This book discusses recent technologies and case studies that aim to enhance positioning obtained with commercial smartphones in urban environments, overcoming difficulties with GPS. The authors provide insight into recent trends and innovation on technologies, solutions and approaches to overcome GPS issues in urban environments, due to the existence of a big number of buildings. Topics include security and legal aspects related to positioning systems, the usage of crowdsourcing approaches to enhance positioning, location-based services, proximity based-social networking, satellite navigation and Bluetooth low-energy based systems. The book provides important information for developers that intend to make use of precise positioning for the purpose of commercial applications as well as for research and innovation. Discusses technologies that enhance positioning obtained with commercial smartphones in urban environments; Presents innovations to overcome GPS issues in urban environments caused by dense cities; Includes applications of precise positioning, including their security issues and challenges.
Author: Henning Lategahn
Publisher:
ISBN: 9781013282256
Category : Technology & Engineering
Languages : en
Pages : 136
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Book Description
In this work we present a system to fully automatically create a highly accurate visual feature map from image data aquired from within a moving vehicle. Moreover, a system for high precision self localization is presented. Furthermore, we present a method to automatically learn a visual descriptor. The map relative self localization is centimeter accurate and allows autonomous driving. This work was published by Saint Philip Street Press pursuant to a Creative Commons license permitting commercial use. All rights not granted by the work's license are retained by the author or authors.
Author: Georg Gartner
Publisher: Springer Science & Business Media
ISBN: 3642241980
Category : Science
Languages : en
Pages : 347
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Book Description
This book gives a general picture of research-driven activities related to location and map-based services. The interdisciplinary character of the topic leads to a variety of contributions with backgrounds from academia to business and from computer science to geodesy. While cartography is aiming at efficient communication of spatial information, the development and availability of technologies like mobile networking, mobile devices or short-range sensors lead to interesting new possibilities of achieving this aim. By trying to make use of the available technologies, a variety of related disciplines looks specifically at user-centered and context-aware system development, especially in wayfinding and navigation systems.
Author: Kaveh Pahlavan
Publisher: John Wiley & Sons
ISBN: 1118629272
Category : Technology & Engineering
Languages : en
Pages : 766
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Book Description
A comprehensive, encompassing and accessible text examining a wide range of key Wireless Networking and Localization technologies This book provides a unified treatment of issues related to all wireless access and wireless localization techniques. The book reflects principles of design and deployment of infrastructure for wireless access and localization for wide, local, and personal networking. Description of wireless access methods includes design and deployment of traditional TDMA and CDMA technologies and emerging Long Term Evolution (LTE) techniques for wide area cellular networks, the IEEE 802.11/WiFi wireless local area networks as well as IEEE 802.15 Bluetooth, ZigBee, Ultra Wideband (UWB), RF Microwave and body area networks used for sensor and ad hoc networks. The principles of wireless localization techniques using time-of-arrival and received-signal-strength of the wireless signal used in military and commercial applications in smart devices operating in urban, indoor and inside the human body localization are explained and compared. Questions, problem sets and hands-on projects enhances the learning experience for students to understand and appreciate the subject. These include analytical and practical examples with software projects to challenge students in practically important simulation problems, and problem sets that use MatLab. Key features: Provides a broad coverage of main wireless technologies including emerging technical developments such as body area networking and cyber physical systems Written in a tutorial form that can be used by students and researchers in the field Includes practical examples and software projects to challenge students in practically important simulation problems
Author: Jari Nurmi
Publisher: Springer
ISBN: 3319504274
Category : Technology & Engineering
Languages : en
Pages : 345
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Book Description
This book provides an overview of positioning technologies, applications and services in a format accessible to a wide variety of readers. Readers who have always wanted to understand how satellite-based positioning, wireless network positioning, inertial navigation, and their combinations work will find great value in this book. Readers will also learn about the advantages and disadvantages of different positioning methods, their limitations and challenges. Cognitive positioning, adding the brain to determine which technologies to use at device runtime, is introduced as well. Coverage also includes the use of position information for Location Based Services (LBS), as well as context-aware positioning services, designed for better user experience.
Author: Yi Qu
Publisher: Springer Nature
ISBN: 981971091X
Category :
Languages : en
Pages : 526
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Book Description
Author: Kaveh Pahlavan
Publisher: CRC Press
ISBN: 1000793087
Category : Technology & Engineering
Languages : en
Pages : 492
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Book Description
Precise and accurate localization is one of the fundamental scientific and engineering technologies needed for the applications enabling the emergence of the Smart World and the Internet of Things (IoT). Popularity of localization technology began when the GPS became open for commercial applications in early 1990's. Since most commercial localization applications are for indoors and GPS does not work indoors, the discovery of opportunistic indoor geolocation technologies began in mid-1990's. Because of complexity and diversity of science and technology involved in indoor Geolocation, this area has emerged as its own discipline over the past two decades. At the time of this writing, received signal strength (RSS) based Wi-Fi localization is dominating the commercial market complementing cell tower localization and GPS technologies using the time of arrival (TOA) technology. Wi-Fi localization technology takes advantage of the random deployment of Wi-Fi devices worldwide to support indoor and urban area localization for hundreds of thousands of applications on smart devices. Public safety and military applications demand more precise localization for first responders and military applications deploy specialized infrastructure for more precise indoor geolocation. To enhance the performance both industries are examining hybrid localization techniques. Hybrid algorithms use a variety of sensors to measure the speed and direction of movement and integrate them with the absolute radio frequency localization. Indoor Geolocation Science and Technology is a multidisciplinary book that presents the fundamentals of opportunistic localization and navigation science and technology used in different platforms such as: smart devices, unmanned ground and flying vehicles, and existing cars operating as a part of intelligent transportation systems. Material presented in the book are beneficial for the Electrical and Computer Engineering, Computer Science, Robotics Engineering, Biomedical Engineering or other disciplines who are interested in integration of navigation into their multi-disciplinary projects. The book provides examples with supporting MATLAB codes and hands-on projects throughout to improve the ability of the readers to understand and implement variety of algorithms. It can be used for both academic education, as a textbook with problem sets and projects, and the industrial training, as a practical reference book for professionals involved in design and performance evaluation. The author of this book has pioneering research experience and industrial exposure in design and performance evaluation of indoor geolocation based on empirical measurement and modeling of the behavior of the radio propagation in indoor areas and inside the human body. The presentation of the material is based on examples of research and development that his students have performed in his laboratory, his teaching experiences as a professor, and his experiences as a technical consultant to successful startup companies.
Author: Nancy M. Amato
Publisher: Springer Nature
ISBN: 3030286193
Category : Technology & Engineering
Languages : en
Pages : 1058
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Book Description
ISRR, the "International Symposium on Robotics Research", is one of robotics pioneering Symposia, which has established over the past two decades some of the field's most fundamental and lasting contributions. This book presents the results of the eighteenth edition of "Robotics Research" ISRR17, offering a collection of a broad range of topics in robotics. This symposium took place in Puerto Varas, Chile from December 11th to December 14th, 2017. The content of the contributions provides a wide coverage of the current state of robotics research, the advances and challenges in its theoretical foundation and technology basis, and the developments in its traditional and new emerging areas of applications. The diversity, novelty, and span of the work unfolding in these areas reveal the field's increased maturity and expanded scope and define the state of the art of robotics and its future direction.
