• Information Technology
  • Human Resources
  • Careers
  • Giving
  • Library
  • Bookstore
  • Active Living
  • Continuing Education
  • Go Dinos
  • UCalgary Maps
  • UCalgary Directory
  • Academic Calendar
My UCalgary
Webmail
D2L
ARCHIBUS
IRISS
  • Faculty of Arts
  • Cumming School of Medicine
  • Faculty of Environmental Design
  • Faculty of Graduate Studies
  • Haskayne School of Business
  • Faculty of Kinesiology
  • Faculty of Law
  • Faculty of Nursing
  • Faculty of Nursing (Qatar)
  • Schulich School of Engineering
  • Faculty of Science
  • Faculty of Social Work
  • Faculty of Veterinary Medicine
  • Werklund School of Education
  • Information TechnologiesIT
  • Human ResourcesHR
  • Careers
  • Giving
  • Library
  • Bookstore
  • Active Living
  • Continuing Education
  • Go Dinos
  • UCalgary Maps
  • UCalgary Directory
  • Academic Calendar
  • Libraries and Cultural Resources
View Item 
  •   PRISM Home
  • Graduate Studies
  • The Vault: Electronic Theses and Dissertations
  • View Item
  •   PRISM Home
  • Graduate Studies
  • The Vault: Electronic Theses and Dissertations
  • View Item
JavaScript is disabled for your browser. Some features of this site may not work without it.

Ultra-tightly Coupled Vision/GNSS for Automotive Applications

Thumbnail
Download
Thesis main document (14.20Mb)
Advisor
Petovello, Mark
Lachapelle, Gérard
Author
Aumayer, Bernhard Martin
Accessioned
2016-02-02T21:53:07Z
Available
2016-02-02T21:53:07Z
Issued
2016-02-02
Submitted
2016
Other
Navigation
GNSS
GPS
GLONASS
Vision
Subject
Engineering--Automotive
Engineering--Electronics and Electrical
Type
Thesis
Metadata
Show full item record

Abstract
Global navigation satellite systems have revolutionized the way people are navigating vehicles in unknown environments, and improved the driving experience in complex traffic areas. Satellite based navigation systems however experience their limitations in densely developed areas with high buildings, as satellite signals get attenuated, blocked and reflected by objects in the line of sight between the user and the satellite. Unfortunately, areas with degraded satellite conditions correlate well with areas of more complex navigation requirements, leading to less reliable navigation capabilities where it is needed most. Current in-dash navigation systems integrate additional sensors such as inertial and wheel sensors, with the drawback of vehicle-specific, inaccurate and often biased measurements. With the recent introduction of advanced driver assistance systems, optical systems become attractive additional sensors. Although cost-effective visible light cameras can provide useful measurements, their usage in combination with satellite navigation systems has not attracted much interest up to this date. This research reached the goal of accurate navigation in urban environments by deeply integrating vision sensors with satellite navigation systems, while intentionally omitting inertial sensors. The proposed system was tailored specifically for road vehicles, where the test vehicle was post-equipped with a stereo camera and a custom multi-constellation satellite navigation receiver. The error characteristics of the visual sensor system were simulated in software and tested in a laboratory environment. Furthermore, extensive testing in challenging environments was performed, which shows the advantages and limitations of the proposed system in real environments. The navigation performance of different GNSS only, GNSS/INS and GNSS/vision implementations was compared. The GNSS/vision system provided a continuously available navigation solution, and despite the fact that the used IMU was of cost-intensive tactical grade, the integrated GNSS/vision system consistently outperformed all other systems.
Corporate
University of Calgary
Faculty
Graduate Studies
Doi
http://dx.doi.org/10.11575/PRISM/28546
Uri
http://hdl.handle.net/11023/2814
Collections
  • The Vault: Electronic Theses and Dissertations

Browse

All of PRISMCommunities & CollectionsBy Issue DateAuthorsTitlesSubjectsThis CollectionBy Issue DateAuthorsTitlesSubjects

My Account

LoginRegister

Statistics

Most Popular ItemsStatistics by CountryMost Popular Authors

  • Email
  • SMS
  • 403.220.8895
  • Live Chat

Energize: The Campaign for Eyes High

Privacy Policy
Website feedback

University of Calgary
2500 University Drive NW
Calgary, AB T2N 1N4
CANADA

Copyright © 2017