|Abstract:||Navigation in GNSS denied environment is a topic of interest in the navigation community. Various aiding sensors can be integrated with the inertial navigation system (INS) to reduce its error growth. This paper proposes the integration of vanishing point (VP) observations from parallel lane markings to aid INS for land vehicles navigation applications. First, we derive the mathematical relationship between 2D vanishing point coordinates and relative attitude of camera and the lane markings. Second, a measurement model is formulated and the integration scheme is developed. Finally, VP aiding module is added to the existing motion constrains aiding and odometer aiding module in the EKF framework. Simulation and real world experiment have shown the validity of VP-based method and improved heading accuracy and cross track position error compared with the solution without using the VP.|
Proceedings of the 2017 International Technical Meeting of The Institute of Navigation
January 30 - 2, 2017
Hyatt Regency Monterey
|Pages:||292 - 300|
|Cite this article:||
Liu, Zhenbo, El-Sheimy, Naser, Yu, Chunyang, Qin, Yongyuan, "Vanishing Point/vehicle Motion Constraints Aided Ground Vehicle Navigation," Proceedings of the 2017 International Technical Meeting of The Institute of Navigation, Monterey, California, January 2017, pp. 292-300.
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