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

Dorra Larnaout 1 Vincent Gay-Belllile 1 Steve Bourgeois 1 Michel Dhome 2
1 LVIC - Laboratoire Vision et Ingénierie des Contenus
DIASI - Département Intelligence Ambiante et Systèmes Interactifs : DRT/LIST/DIASI
2 IP - Institut Pascal
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.
Keywords : SLAM Simultaneous Localisation and Mapping Local bundle adjustment GPS 3D building models
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Conference papers
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https://hal-cea.archives-ouvertes.fr/cea-01830472
Contributor : Vincent Gay-Bellile <>
Submitted on : Thursday, July 5, 2018 - 9:54:27 AM
Last modification on : Friday, June 25, 2021 - 9:48:05 AM

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CEA | CNRS | INSTITUT_PASCAL | DRT | SIGMA-CLERMONT | PRES_CLERMONT | LIST | GS-COMPUTER-SCIENCE

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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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