Real-Time Hierarchical Outdoor SLAM Based on Stereovision and GPS Fusion Export

@article{citeulike:5764805, abstract = {<para> This paper presents a new real-time hierarchical (topological/metric) simultaneous localization and mapping (SLAM) system. It can be applied to the robust localization of a vehicle in large-scale outdoor urban environments, improving the current vehicle navigation systems, most of which are only based on Global Positioning System (GPS). Then, it can be used on autonomous vehicle guidance with recurrent trajectories (bus journeys, theme park internal journeys, etc.). It is exclusively based on the information provided by both a low-cost, wide-angle stereo camera and a low-cost GPS. Our approach divides the whole map into local submaps identified by the so-called fingerprints (vehicle poses). In this submap level (low-level SLAM), a metric approach is carried out. There, a 3-D sequential mapping of visual natural landmarks and the vehicle location/orientation are obtained using a top-down Bayesian method to model the dynamic behavior. GPS measurements are integrated within this low-level improving vehicle positioning. A higher topological level (high-level SLAM) based on fingerprints and the MultiLevel Relaxation (MLR) algorithm has been added to reduce the global error within the map, keeping real-time constraints. This level provides nearly consistent estimation, keeping a small degradation with GPS unavailability. Some experimental results for large-scale outdoor urban environments are presented, showing an almost constant processing time. </para>}, author = {Schleicher, D. and Bergasa, L. M. and Ocana, M. and Barea, R. and Lopez, M. E.}, booktitle = {Intelligent Transportation Systems, IEEE Transactions on}, citeulike-article-id = {5764805}, citeulike-linkout-0 = {http://dx.doi.org/10.1109/TITS.2009.2026317}, citeulike-linkout-1 = {http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=5169855}, day = {21}, doi = {10.1109/TITS.2009.2026317}, journal = {Intelligent Transportation Systems, IEEE Transactions on}, keywords = {map, robot, vehicle}, month = {July}, number = {3}, pages = {440--452}, posted-at = {2009-09-10 03:00:57}, priority = {2}, title = {Real-Time Hierarchical Outdoor SLAM Based on Stereovision and GPS Fusion}, url = {http://dx.doi.org/10.1109/TITS.2009.2026317}, volume = {10}, year = {2009} }

TY - JOUR ID - citeulike:5764805 L3 - citeulike-article-id:5764805 N2 - <para> This paper presents a new real-time hierarchical (topological/metric) simultaneous localization and mapping (SLAM) system. It can be applied to the robust localization of a vehicle in large-scale outdoor urban environments, improving the current vehicle navigation systems, most of which are only based on Global Positioning System (GPS). Then, it can be used on autonomous vehicle guidance with recurrent trajectories (bus journeys, theme park internal journeys, etc.). It is exclusively based on the information provided by both a low-cost, wide-angle stereo camera and a low-cost GPS. Our approach divides the whole map into local submaps identified by the so-called fingerprints (vehicle poses). In this submap level (low-level SLAM), a metric approach is carried out. There, a 3-D sequential mapping of visual natural landmarks and the vehicle location/orientation are obtained using a top-down Bayesian method to model the dynamic behavior. GPS measurements are integrated within this low-level improving vehicle positioning. A higher topological level (high-level SLAM) based on fingerprints and the MultiLevel Relaxation (MLR) algorithm has been added to reduce the global error within the map, keeping real-time constraints. This level provides nearly consistent estimation, keeping a small degradation with GPS unavailability. Some experimental results for large-scale outdoor urban environments are presented, showing an almost constant processing time. </para> IS - 3 JF - Intelligent Transportation Systems, IEEE Transactions on EP - 452 TI - Real-Time Hierarchical Outdoor SLAM Based on Stereovision and GPS Fusion VL - 10 T2 - Intelligent Transportation Systems, IEEE Transactions on SP - 440 KW - map KW - robot KW - vehicle AU - Schleicher, D AU - Bergasa, LM AU - Ocana, M AU - Barea, R AU - Lopez, ME PY - 2009/07/21/ UR - http://dx.doi.org/10.1109/TITS.2009.2026317 ER -