文章基本信息

标题：A Bimodal Approach for Land Vehicle Localization
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作者：Kim, Seong-Baek ; Choi, Kyung-Ho ; Lee, Seung-Yong 等
期刊名称：ETRI Journal
印刷版ISSN：1225-6463
电子版ISSN：2233-7326
出版年度：2004
卷号：26
期号：5
页码：497-497
语种：English
出版社：Electronics and Telecommunications Research Institute
摘要：In this paper, we present a novel idea to integrate a low cost inertial measurement unit (IMU) and Global Positioning System (GPS) for land vehicle localization. By taking advantage of positioning data calculated from an image based on photogrammetry and stereo-vision techniques, errors caused by a GPS outage for land vehicle localization were significantly reduced in the proposed bimodal approach. More specifically, positioning data from the photogrammetric approach are fed back into the Kalman filter to reduce and compensate for IMU errors and improve the performance. Experimental results are presented to show the robustness of the proposed method, which can be used to reduce positioning errors caused by a low cost IMU when a GPS signal is not available in urban areas.
关键词：Inertial measurement unit (IMU);GPS;photogrammetry;stereo-vision