Development of a Positioning Technique for an Urban Area Using Omnidirectional Infrared Camera and Aerial Survey Data
Development of a Positioning Technique for an Urban Area Using Omnidirectional Infrared Camera and Aerial Survey Data
复制标题
利用全向红外相机和航测数据开发城市地区定位技术
DOI：
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发表时间：
2008
期刊：
影响因子：
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通讯作者：
J. Takiguchi
中科院分区：
文献类型：
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作者：
J. Meguro;T. Murata;Y. Amano;T. Hashizume;J. Takiguchi
介绍了一种可应用于城市峡谷的室外车辆定位系统，该系统采用全向红外(IR)相机和数字表面模型(DSM)。通过全方位红外图像，该系统能够在建筑物导致卫星不可见性阻碍高精度GPS测量的城市地区进行稳健定位。全向红外相机可以在360°的范围内生成仰角为20-70°的红外图像。摄像机捕捉到的图像对室外环境中的光线干扰具有很强的鲁棒性。通过红外摄像机，天空看起来非常暗；由于可见光和红外线之间的大气透过率不同，这使得能够轻松检测天空和以白色拍摄的建筑物之间的边界。将包含多个建筑物轮廓的全方位图像与相应的DSM产生的建筑物修复图像进行比较，以确定自身位置。在市区进行的现场实验表明，即使高层建筑造成卫星阻塞，影响GPS测量，所提出的室外定位方法也是有效和有效的。
This paper describes an outdoor positioning system for vehicles that can be applied to an urban canyon by using an omnidirectional infrared (IR) camera and a digital surface model (DSM). By means of omnidirectional IR images, this system enables robust positioning in urban areas where satellite invisibility caused by buildings hampers high-precision GPS measurements. The omnidirectional IR camera can generate IR images with an elevation of 20–70° for the surrounding area of 360°. The image captured by the camera is highly robust to light disturbances in the outdoor environment. Through the IR camera, the sky appears distinctively dark; this enables easy detection of the border between the sky and the buildings captured in white due to the difference in the atmospheric transmittance rate between visible light and IR rays. The omnidirectional image, which includes several building profiles, is compared with building-restoration images produced by the corresponding DSM in order to determine the self-position. Field experiments in an urban area show that the proposed outdoor positioning method is valid and effective, even if high-rise buildings cause satellite blockage that affects GPS measurements.