Longitudinal error improvement by visual odometry trajectory trail and road segment matching

Dayang Nur Salmi Dharmiza, Binti Awang Salleh and Seignez, Emmanuel (2019) Longitudinal error improvement by visual odometry trajectory trail and road segment matching. IET Intelligent Transport Systems, 13 (2). pp. 313-322. ISSN 751-956X

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Abstract

As one of the key requirements in the intelligent vehicle, accurate and precise localisation is essential to ensure swift route planning during the drive. In this study, the authors would like to reduce the longitudinal positioning error that remains as a challenge in accurate localisation. To solve this, they propose a data fusion method by integrating information from visual odometry (VO), noisy GPS, and road information obtained from the publicly available digital map with particle filter. The curve of the VO trajectory trail is compared with road segments curve to increase longitudinal accuracy. This method is validated by KITTI dataset, tested with different GPS noise conditions, and the results show improved localisation for both lateral and longitudinal positioning errors.

Item Type: Article
Uncontrolled Keywords: visual odometry, road segment, Longitudinal, Accurate vehicle, GPS noise conditions, unimas, university, universiti, Borneo, Malaysia, Sarawak, Kuching, Samarahan, ipta, education, research, Universiti Malaysia Sarawak.
Subjects: T Technology > TL Motor vehicles. Aeronautics. Astronautics
Divisions: Academic Faculties, Institutes and Centres > Faculty of Engineering
Depositing User: Awang Salleh
Date Deposited: 17 Apr 2019 01:19
Last Modified: 17 Apr 2019 01:19
URI: http://ir.unimas.my/id/eprint/24518

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