3D LiDAR Aided GNSS/INS Integration Fault Detection, Localization and Integrity Assessment in Urban Canyons

Weakly Supervised Segmentation-aided Classification of Urban Scenes from 3d Lidar Point Clouds

We consider the problem of the semantic classification of 3D LiDAR point clouds obtained from urban scenes when the training set is limited. We propose a non-parametric segmentation model for urban scenes composed of anthropic objects of simple shapes, partionning the scene into geometrically-homogeneous segments which size is determined by the local complexity. This segmentation can be integra...

Vertical Corner Feature Based Precise Vehicle Localization Using 3D LIDAR in Urban Area

Tall buildings are concentrated in urban areas. The outer walls of buildings are vertically erected to the ground and almost flat. Therefore, the vertical corners that meet the vertical planes are present everywhere in urban areas. These corners act as convenient landmarks, which can be extracted by using the light detection and ranging (LIDAR) sensor. A vertical corner feature based precise ve...

Integration of Lidar and Airborne Imagery for Realistic Visualization of 3d Urban Environments

In its report "State of the World Cities 2006/07", the United Nations states that the number of urban area inhabitants is expected to rise to almost 5 billion by 2030, constituting roughly 62% of the global population. To avoid social and environmental problems arising from this rapid urbanization, federal and local governments must have quick access to accurate and current geo-spatial informat...

Development of Map Aided GPS Algorithms for Vehicle Navigation in Urban Canyons

Personalized 3D-Aided 2D Facial Landmark Localization

Facial landmark detection in images obtained under varying acquisition conditions is a challenging problem. In this paper, we present a personalized landmark localization method that leverages information available from 2D/3D gallery data. To realize a robust correspondence between gallery and probe key points, we present several innovative solutions, including: (i) a hierarchical DAISY descrip...