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Proceedings Paper

GPS error compensation algorithm using coordinates matching of vision system for land-vehicle navigation
Author(s): Janghun Park; Seongryong Mun; Seokwoo Choi; Dohwan Rho
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Paper 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.

Paper Details

Date Published: 30 September 2003
PDF: 9 pages
Proc. SPIE 5267, Intelligent Robots and Computer Vision XXI: Algorithms, Techniques, and Active Vision, (30 September 2003); doi: 10.1117/12.514994
Show Author Affiliations
Janghun Park, Chonbuk National Univ. (South Korea)
Seongryong Mun, Chonbuk National Univ. (South Korea)
Seokwoo Choi, Chonbuk National Univ. (South Korea)
Dohwan Rho, Chonbuk National Univ. (South Korea)

Published in SPIE Proceedings Vol. 5267:
Intelligent Robots and Computer Vision XXI: Algorithms, Techniques, and Active Vision
David P. Casasent; Ernest L. Hall; Juha Roning, Editor(s)

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