Vision-Based Differential GPS: Improving VSLAM / GPS Fusion in Urban Environment with 3D Building Models - CEA - Commissariat à l’énergie atomique et aux énergies alternatives Access content directly
Conference Papers Year : 2014

Vision-Based Differential GPS: Improving VSLAM / GPS Fusion in Urban Environment with 3D Building Models

Abstract

We improve in this paper the localization accuracy of visual SLAM (VSLAM) / GPS fusion in dense urban area by using 3D building models provided by Geographic Information System (GIS). GPS inaccuracies are corrected by comparison of the reconstruction resulting from the VSLAM / GPS fusion with 3D building models. These corrected GPS data are thereafter re-injected in the fusion process. Experimental results demonstrate the accuracy improvements achieved through our proposed solution.
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Dates and versions

cea-01830472 , version 1 (05-07-2018)

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Dorra Larnaout, Vincent Gay-Belllile, Steve Bourgeois, Michel Dhome. Vision-Based Differential GPS: Improving VSLAM / GPS Fusion in Urban Environment with 3D Building Models. International Conference on 3D Vision (3DV), Dec 2014, Tokyo, Japan. ⟨10.1109/3DV.2014.73⟩. ⟨cea-01830472⟩
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