Relating Local Vision Measurements to Global Navigation Satellite Systems Using Waypoint Based Maps

J.W. Allen, D.M. Bevly

Abstract:	Roughly 50% of all the traffic fatalities are due to lane departures [2]. There is great interest in advanced driver assistance systems that prevent unintended lane departure. Currently there are passive lane detection systems that warn the driver of unintended land departure know as land departure warning (LDW) systems which rely on cameras to track lane markings. LDW systems base solely off camera measurements are prone to failures due to poor environmental lighting or poor lane marking coverage. Combining the measurements from multiple sensors will create a much more robust LDW system that is not prone to failures. The purpose of this paper is to present a method that involves combining measurements from global navigation satellite systems (GNSS) with camera and Light Detection and Ranging (LiDAR) measurements for lane level positioning. These measurements are blended with IMU data using a Kalman filter. When using a Kalman filter [7] to blend the data, the states of the filter are based in a global coordinate frame because GNSS measurements are given in a global coordinate frame. Lane position measurements are given in a local coordinate frame; therefore, lane position measurements must be related to the global coordinate frame in order to incorporate them into the navigation filter. This paper presents a method of relating local vision measurements to the global coordinate frame. This method can be used in conjunction with pre-existing global based navigation filters. The vision measurements are related to the global coordinate frame using a waypoint map. This method is dependent on the choice of global coordinate frame. Navigation filters based in two popular global coordinate frame are discussed in this paper. The first is the North, East, Down (NED) coordinate frame. The second is the Earth Centered Earth Fixed (ECEF) coordinate frame.
Published in:	Proceedings of IEEE/ION PLANS 2010 May 4 - 6, 2010 Renaissance Esmeralda Resort & Spa Indian Wells, CA
Pages:	1204 - 1211
Cite this article:	Allen, J.W., Bevly, D.M., "Relating Local Vision Measurements to Global Navigation Satellite Systems Using Waypoint Based Maps," Proceedings of IEEE/ION PLANS 2010, Indian Wells, CA, May 2010, pp. 1204-1211. https://doi.org/10.1109/PLANS.2010.5507280
Full Paper:	ION Members/Non-Members: 1 Download Credit Sign In