GPS error compensation algorithm using coordinates matching of vision system for land-vehicle navigation

Janghun Park; Seongryong Mun; Seokwoo Choi; Dohwan Rho

doi:10.1117/12.514994

30 September 2003 GPS error compensation algorithm using coordinates matching of vision system for land-vehicle navigation

Janghun Park, Seongryong Mun, Seokwoo Choi, Dohwan Rho

Author Affiliations +

Proceedings Volume 5267, Intelligent Robots and Computer Vision XXI: Algorithms, Techniques, and Active Vision; (2003) https://doi.org/10.1117/12.514994
Event: Photonics Technologies for Robotics, Automation, and Manufacturing, 2003, Providence, RI, United States

Abstract

In recent years, the Global Positioning System(GPS) has solidified its presence as a dependable means of navigation by providing absolute positioning in various applications. While GPS alone can provide of position information, it has several weaknesses, such as low data output rate and vulnerability to external disturbances. We explore the feasibility of an integrated positioning system using a Differential GPS(DGPS) and a CCD camera vision system for the control of an automated vehicle. In this paper we propose an algorithm that translates the camera coordinates into the TM coordinates and WGS84 coordinate in the area where the GPS data are not readily available. In this proposed method, various parameters are estimated and corrected, which includes heading angle, velocity, curvature of road, and height of road surface. We also present the results which were obtained using the actual vehicle equipped with the vision system. It was shown that errors in DGPS may be corrected by effectively using the measurement from the vision system.

Citation Download Citation

Janghun Park, Seongryong Mun, Seokwoo Choi, and Dohwan Rho "GPS error compensation algorithm using coordinates matching of vision system for land-vehicle navigation", Proc. SPIE 5267, Intelligent Robots and Computer Vision XXI: Algorithms, Techniques, and Active Vision, (30 September 2003); https://doi.org/10.1117/12.514994

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