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
2 IP - Institut Pascal

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.

Mots clés: SLAM Simultaneous Localisation and Mapping; Local bundle adjustment; GPS; 3D building models

Domaines: Traitement du signal et de l'image [eess.SP]

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⟩