Abstract
Vehicle geo-localization using a single camera is a challenging issue promoted by several limitations that GPS incurs in dense urban area. While most of the existing solutions rely on viewpoint recognition techniques, the ombination of Structure from Motion algorithm and the eometric information provided by Geographic Information System (GIS) has emerged as a promising alternative. In this system paper, we introduce a monocular SLAM process that exploits both Digital Elevation Model layer (DEM) and buildings layer of a GIS to reach an accurate and robust geo-localization. Our solution relies on a constrained bundle adjustment that exploits the DEM to correct the camera trajectory while the 3D buildings model is used to constrain the reconstructed 3D points cloud. ore over, our solution is designed to achieve an on-line and real-time (i.e. about 30 Hz) localization while most of the state of the art solutions are off-line. In addition to evaluations on different synthetic and real large scale sequences, an Augmented Reality application is realized proving these statements.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
