Ultra-tightly Coupled Vision/GNSS for Automotive Applications

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atmire.migration.oldid4115
dc.contributor.advisorPetovello, Mark
dc.contributor.advisorLachapelle, Gérard
dc.contributor.authorAumayer, Bernhard Martin
dc.date.accessioned2016-02-02T21:53:07Z
dc.date.available2016-02-02T21:53:07Z
dc.date.issued2016-02-02
dc.date.submitted2016en
dc.description.abstractGlobal 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.en_US
dc.identifier.citationAumayer, B. M. (2016). Ultra-tightly Coupled Vision/GNSS for Automotive Applications (Doctoral thesis, University of Calgary, Calgary, Canada). Retrieved from https://prism.ucalgary.ca. doi:10.11575/PRISM/28546en_US
dc.identifier.doihttp://dx.doi.org/10.11575/PRISM/28546
dc.identifier.urihttp://hdl.handle.net/11023/2814
dc.language.isoeng
dc.publisher.facultyGraduate Studies
dc.publisher.institutionUniversity of Calgaryen
dc.publisher.placeCalgaryen
dc.rightsUniversity of Calgary graduate students retain copyright ownership and moral rights for their thesis. You may use this material in any way that is permitted by the Copyright Act or through licensing that has been assigned to the document. For uses that are not allowable under copyright legislation or licensing, you are required to seek permission.
dc.subjectEngineering--Automotive
dc.subjectEngineering--Electronics and Electrical
dc.subject.classificationNavigationen_US
dc.subject.classificationGNSSen_US
dc.subject.classificationGPSen_US
dc.subject.classificationGLONASSen_US
dc.subject.classificationVisionen_US
dc.titleUltra-tightly Coupled Vision/GNSS for Automotive Applications
dc.typedoctoral thesis
thesis.degree.disciplineGeomatics Engineering
thesis.degree.grantorUniversity of Calgary
thesis.degree.nameDoctor of Philosophy (PhD)
ucalgary.item.requestcopytrue
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