%0 Journal Article %T Fast and automatic city-scale environment modelling using hard and/or weak constrained bundle adjustments %+ Laboratoire Vision et Ingénierie des Contenus (LVIC) %+ Institut Pascal (IP) %A Larnaout, Dorra %A Gay-Bellile, Vincent %A Bourgeois, Steve %A Dhome, Michel %< avec comité de lecture %@ 0932-8092 %J Machine Vision and Applications %I Springer Verlag %V 27 %N 6 %P 943 - 962 %8 2016-08 %D 2016 %R 10.1007/s00138-016-0766-6 %K SLAM Simultaneous Localisation and Mapping %K Bundle Adjustment %K 3D building models %K Augmented Reality %Z Engineering Sciences [physics]/Signal and Image processingJournal articles %X To provide high-quality augmented reality service in a car navigation system, accurate 6 degrees of freedom (DoF) localization is required. To ensure such accuracy, most current vision-based solutions rely on an off-line large-scale modelling of the environment. Nevertheless, while existing solutions to model the environment require expensive equipments and/or a prohibitive computation time, we propose in this paper a complete framework that automatically builds an accurate large-scale database of landmarks using only a standard camera, a low-cost global positioning system (GPS) and a geographic information system (GIS). As illustrated in the experiments, only few minutes are required to model large-scale environments. The resulting databases can then be used by an on-line localization algorithm to ensure high-quality augmented reality experiences. %G English %L cea-01830512 %U https://cea.hal.science/cea-01830512 %~ CEA %~ PRES_CLERMONT %~ CNRS %~ UNIV-BPCLERMONT %~ INSTITUT_PASCAL %~ DRT %~ CEA-UPSAY %~ UNIV-PARIS-SACLAY %~ CEA-UPSAY-SACLAY %~ LIST %~ GS-ENGINEERING %~ GS-COMPUTER-SCIENCE