Motion estimation by integrated low cost system (vision and MEMS) for positioning of a scooter "Vespa"

• Autorzy: Guarnieri A. , Milan N. , Pirotti F. , Vettore A.
• Języki publikacji: EN

Abstrakty

EN

In the automotive sector, especially in these last decade, a growing number of investigations have taken into account electronic systems to check and correct the behaviour of drivers, increasing road safety. The possibility to identify with high accuracy the vehicle position in a mapping reference frame for driving directions and best-route analysis is also another topic which attracts lot of interest from the research and development sector. To reach the objective of accurate vehicle positioning and integrate response events, it is necessary to estimate time by time the position, orientation and velocity of the system. To this aim low cost GPS and MEMS (sensors can be used. In comparison to a four wheel vehicle, the dynamics of a two wheel vehicle (e.g. a scooter) feature a higher level of complexity. Indeed more degrees of freedom must be taken into account to describe the motion of the latter. For example a scooter can twist sideways, thus generating a roll angle. A slight pitch angle has to be considered as well, since wheel suspensions have a higher degree of motion with respect to four wheel vehicles. In this paper we present a method for the accurate reconstruction of the trajectory of a motorcycle (“Vespa” scooter), which can be used as alternative to the “classical” approach based on the integration of GPS and INS sensors. Position and orientation of the scooter are derived from MEMS data and images acquired by on-board digital camera. A Bayesian filter provides the means for integrating the data from MEMS-based orientation sensor and the GPS receiver.

Słowa kluczowe

EN

mobile mapping; orientation sensor; image transformation; IMU; computer vision

PL

mobile mapping; czujnik orientacji; przetwarzanie obrazu; IMU; wizja komputerowa

• Wydawca: Zarząd Główny Stowarzyszenia Geodetów Polskich
• Czasopismo: Archiwum Fotogrametrii, Kartografii i Teledetekcji
• Rocznik: 2011
• Tom: Vol. 22
• Strony: 147--158
• Opis fizyczny: Bibliogr. 9 poz.

Twórcy

autor

Guarnieri A.

• CIRGEO – Interdept. Research Center in Cartography, Photogrammetry, Remote Sensing and GIS, University of Padua

autor

Milan N.

• CIRGEO – Interdept. Research Center in Cartography, Photogrammetry, Remote Sensing and GIS, University of Padua

autor

Pirotti F.

• CIRGEO – Interdept. Research Center in Cartography, Photogrammetry, Remote Sensing and GIS, University of Padua

autor

Vettore A.

• CIRGEO – Interdept. Research Center in Cartography, Photogrammetry, Remote Sensing and GIS, University of Padua

Bibliografia

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• 8. Qi H., Moore J. B. 2002. Direct Kalman Filtering Approach for GPS/INS Integration. In : IEEE Transactions on Aerospace and Electronic Systems, vol. 38, no. 2, pp. 687-693
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