基于视觉的差分GPS:利用三维建筑模型改进城市环境中的VSLAM / GPS融合

2014 2nd International Conference on 3D Vision Pub Date : 2014-12-08 DOI:10.1109/3DV.2014.73

Dorra Larnaout, V. Gay-Bellile, S. Bourgeois, M. Dhome

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引用次数: 12

摘要

本文利用地理信息系统(GIS)提供的三维建筑模型，提高了城市密集地区视觉SLAM (VSLAM) / GPS融合的定位精度。通过将VSLAM / GPS融合的重建结果与三维建筑模型进行比较，修正了GPS的不准确性。这些校正后的GPS数据随后在融合过程中被重新注入。实验结果表明，该方法提高了算法的精度。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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

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.

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2014 2nd International Conference on 3D Vision

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