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

Dorra Larnaout; Vincent Gay-Belllile; Steve Bourgeois; Michel Dhome

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

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

Document type :

Conference papers

Domain :

Engineering Sciences [physics] / Signal and Image processing

Complete list of metadatas

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, April 12, 2019 - 9:56:16 AM

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

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

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