Wen et al., 2020 - Google Patents
Object-detection-aided GNSS and its integration with lidar in highly urbanized areasWen et al., 2020
View PDF- Document ID
- 13699654804579177346
- Author
- Wen W
- Zhang G
- Hsu L
- Publication year
- Publication venue
- IEEE Intelligent Transportation Systems Magazine
External Links
Snippet
Positioning is a key function for autonomous vehicles that requires globally referenced localization information. Lidar-based mapping, which refers to simultaneous localization and mapping (SLAM), provides continuous positioning in diverse scenarios. However, SLAM …
- 238000005259 measurement 0 abstract description 39
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/53—Determining attitude
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in preceding groups
- G01C21/10—Navigation; Navigational instruments not provided for in preceding groups by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in preceding groups by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in preceding groups by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in preceding groups
- G01C21/20—Instruments for performing navigational calculations
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/023—Combination of lidar systems, with systems other than lidar, radar or sonar, e.g. with direction finder
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
- G01S3/78—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using electromagnetic waves other than radio waves
- G01S3/782—Systems for determining direction or deviation from predetermined direction
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in preceding groups
- G01C21/26—Navigation; Navigational instruments not provided for in preceding groups specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in preceding groups specially adapted for navigation in a road network with correlation of data from several navigational instruments
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/66—Radar-tracking systems; Analogous systems where the wavelength or the kind of wave is irrelevant
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/94—Radar or analogous systems specially adapted for specific applications for terrain-avoidance
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING; COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Wen et al. | Tightly coupled GNSS/INS integration via factor graph and aided by fish-eye camera | |
| Alsadik et al. | The simultaneous localization and mapping (SLAM): An overview | |
| Wen et al. | Object-detection-aided GNSS and its integration with lidar in highly urbanized areas | |
| Maaref et al. | Lane-level localization and mapping in GNSS-challenged environments by fusing lidar data and cellular pseudoranges | |
| Aqel et al. | Review of visual odometry: types, approaches, challenges, and applications | |
| CN115790571B (en) | Simultaneous positioning and map construction method based on heterogeneous unmanned system mutual observation | |
| Wei et al. | Camera/laser/GPS fusion method for vehicle positioning under extended NIS-based sensor validation | |
| Gonzalez et al. | Combined visual odometry and visual compass for off-road mobile robots localization | |
| Wen et al. | Performance comparison of GNSS/INS integrations based on EKF and factor graph optimization | |
| Suzuki et al. | N-LOS GNSS signal detection using fish-eye camera for vehicle navigation in urban environments | |
| Wen et al. | Multi-agent collaborative GNSS/camera/INS integration aided by inter-ranging for vehicular navigation in urban areas | |
| Cappelle et al. | Virtual 3D city model for navigation in urban areas | |
| CN114459467B (en) | VI-SLAM-based target positioning method in unknown rescue environment | |
| Wen et al. | It is time for factor graph optimization for GNSS/INS integration: Comparison between FGO and EKF | |
| Zhu et al. | Real-time, environmentally-robust 3d lidar localization | |
| Wen | 3D LiDAR aided GNSS and its tightly coupled integration with INS via factor graph optimization | |
| Wen et al. | GNSS/LiDAR integration aided by self-adaptive Gaussian mixture models in urban scenarios: An approach robust to non-Gaussian noise | |
| CN118111443A (en) | Unmanned aerial vehicle cluster decentralization distributed type cooperative positioning method | |
| Wang et al. | UGV‐UAV robust cooperative positioning algorithm with object detection | |
| Aggarwal | GPS-based localization of autonomous vehicles | |
| Wen et al. | Comparison of extended Kalman filter and factor graph optimization for GNSS/INS integrated navigation system | |
| Zeng et al. | LTI-SAM: LiDAR-template matching-inertial odometry via smoothing and mapping | |
| Maeda et al. | Flight path planning of multiple UAVs for robust localization near infrastructure facilities | |
| Hoang et al. | A simplified solution to motion estimation using an omnidirectional camera and a 2-D LRF sensor | |
| Li et al. | UWB-VO: Ultra-Wideband Anchor Assisted Visual Odometry |