Implementation methodology of embedded land vehicle positioning using an integrated GPS and multi sensor system

Islam, Azizul; Iqbal, Umar; Langlois, J. M. Pierre; Noureldin, Aboelmagd

doi:10.3233/ica-2010-0330

Cited by 14 publications

(12 citation statements)

References 11 publications

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“…Hough transform is commonly used for this aim, as [10]. The fast radial symmetry transform, an extension of the Hough transform, is used for detecting circular road signs [7,14]. Another approach based on Canny is used for edge extraction [20].…”

Section: Sign Detectionmentioning

confidence: 99%

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Detection and classification of road signs for automatic inventory systems using computer vision

Coronado

Muòoz

Armingol

et al. 2012

ICA

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This article describes an intelligent system that enables the automatic recognition of road signs from image sequences in road environments. The main difficulties the system has to deal with are related to changes in lighting conditions, obstacles blocking the view, the presence of objects with geometric and chromatic similarities and the absence of previous knowledge about their position and orientation. The application of different techniques allows the system to overcome this variety of problems. Therefore, the road sign recognition system is based on a first pre-processing of images, making use of information about road geometry to isolate those areas of the image where road signs may appear. The detection step uses colour and shape analysis to determine the regions of the image where potential road signs may be located. A third step focuses on recognition and classification using pattern matching and edge feature analysis. The proposed algorithm has been tested in different weather and lighting conditions and roads (one and two-lane roads and motorways), overall, a total of 1200 kilometres with a very high success rate of detection and classification as the experimental results show.

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Section: Sign Detectionmentioning

confidence: 99%

“…Using a vehicle as a platform for an experiment is not new. In [14] an embedded implementation approach of land vehicle navigation is presented; involving a singleaxis gyroscope and an odometer integrated with a GPS receiver.…”

Section: Image and Geometric Acquisition Systemmentioning

confidence: 99%

Detection and classification of road signs for automatic inventory systems using computer vision

Coronado

Muòoz

Armingol

et al. 2012

ICA

View full text Add to dashboard Cite

show abstract

“…To this end, ITS systems integrate information and communication technologies into both the vehicles [4,11,39,43] and the infrastructure [2,[7][8][9][10]22,24,26,42]. The AUTOPIA research group's contributions focus on the development of optimal solutions for present and future transportation challenges [29].…”

Section: Introductionmentioning

confidence: 99%

A transferable belief model applied to LIDAR perception for autonomous vehicles

Domínguez

Alonso

Onieva

et al. 2013

ICA

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Light Detection and Ranging (LIDAR) sensors are commonly used in perception for autonomous vehicles because of their high accuracy, speed, and range. These characteristics make the sensor suitable for integration into the perception layer of controllers which have the capacity to avoid collisions with unpredicted obstacles. The objective of this work was to design a robust and efficient algorithm to acquire useful knowledge from LIDAR scans, and to test its performance in real road situations. The method is based on the construction of an Occupancy Grid based on the Transferable Belief Model, which has proved promising in other studies. Two clear advantages of this method are the reduction of the problem complexity in the phases of segmentation, occlusion detection and tracking, and its ease of integration with other sensors to allow the overall system to evolve towards reliable and complete perception.

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“…For AGV navigation applications with strict real-time requirements, the most common solution consists in fusing together the information obtained by two different systems: (i) an on-board vehicle system, such as an odometer, that offers estimation in the local robot frame (local localization); and (ii) an external positioning system, that provides position estimation in an absolute coordinates system (absolute localization). For example, in [20] the authors combine the information provided by an absolute localization system, given by the Global Positioning System (GPS), with the relative estimation offered by the plethora of sensors that normally equip vehicles. Fusion of local and absolute position estimates can be carried out by Extended Kalman Filtering (EKF) [32] (or derived filters) or by sequential filtering techniques, such as particle filtering [28].…”

Section: Introductionmentioning

confidence: 99%

Improved ultra wideband-based tracking of twin-receiver automated guided vehicles

Busanelli

Ferrari

2012

ICA

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In this paper, we present the design and performance analysis of an innovative system for tracking Automated Guided Vehicles (AGVs) in indoor industrial scenarios. An on-board odometer provides information about the dynamic state of the AGV, allowing to predict its pose (i.e., its position and orientation). At the same time, an external Ultra-Wide Band (UWB) wireless network provides the information necessary to compensate for the error drift accumulated by the odometer. Two novel alternative solutions for AGV tracking are proposed: (i) a classical Time Differences Of Arrivals (TDOA) approach with a single receiver; (ii) a "Twin-receiver" TDOA (TTDOA) approach, that requires the presence of two independent receivers on the AGV. The TTDOA configuration allows to indirectly estimate the orientation of the vehicle, thus increasing the estimation accuracy. Moreover, this allows direct estimation of the vehicle's movement even when the odometer is not working properly (e.g., temporary failure) or when the AGV is not moving (e.g., at the start-up). The system performance with the two proposed tracking algorithms is evaluated in realistic conditions, by considering a consolidated UWB channel model and a simple on-board energy detector receiver. The impact of the wireless network architecture and of the presence of moving obstacles is analyzed. The obtained results show clearly that the implementation of a tracking system with a sub-centimeter accuracy can be realized by means of low-complexity UWB receiver and commercial odometers. The automatic movement of goods within a warehouse is one of the most appealing application of the proposed tracking system.

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Implementation methodology of embedded land vehicle positioning using an integrated GPS and multi sensor system

Cited by 14 publications

References 11 publications

Detection and classification of road signs for automatic inventory systems using computer vision

Detection and classification of road signs for automatic inventory systems using computer vision

A transferable belief model applied to LIDAR perception for autonomous vehicles

Improved ultra wideband-based tracking of twin-receiver automated guided vehicles

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