Navigation and Speed Signs Recognition Fusion for Enhanced Vehicle Location
نویسندگان
چکیده
This paper presents an approach that provides extended vehicle location information based on multi sensor data fusion. Firstly, the vehicle location, a recommended speed level referred to this location and a confidence level attached to this speed evaluation are determined thanks to the digital road map of a navigation system. At the same time, a speed sign recognition device based on image processing determines the legal speed limit and an associated confidence level of the detection. Because of the uncertainties and imprecision of both sensors, fusion using Belief Theory is performed between the data provided by each sources. By merging several criteria from the digital map with the traffic sign detection results, this approach allows on the one hand a reliable determination of the driving conditions and on the other hand the evaluation of the confidence level of the decision. Real experiment results from a driving situation in which both sources are in conflict illustrate the effectiveness of the approach.
منابع مشابه
GPS/INS Integration for Vehicle Navigation based on INS Error Analysis in Kalman Filtering
The Global Positioning System (GPS) and an Inertial Navigation System (INS) are two basic navigation systems. Due to their complementary characters in many aspects, a GPS/INS integrated navigation system has been a hot research topic in the recent decade. The Micro Electrical Mechanical Sensors (MEMS) successfully solved the problems of price, size and weight with the traditional INS. Therefore...
متن کاملA Hierarchical SLAM/GPS/INS Sensor Fusion with WLFP for Flying Robo-SAR's Navigation
In this paper, we present the results of a hierarchical SLAM/GPS/INS/WLFP sensor fusion to be used in navigation system devices. Due to low quality of the inertial sensors, even a short-term GPS failure can lower the integrated navigation performance significantly. In addition, in GPS denied environments, most navigation systems need a separate assisting resource, in order to increase the avail...
متن کاملA Novel Approach To Improve Vehicle Speed Estimation Using Smartphone's INS/GPS Sensors
In recent times, number of researchers have investigated vehicle tracking applications by fusing the measurements done by accelerometers, as part of inertial navigation system (INS), and GPS (Global Positioning System). However, the sensors in recreational devices like mobile phone have limitations in measurement accuracy and reliability. Usually, sudden changes in vehicle speed are not always ...
متن کاملApplication of Combined Local Object Based Features and Cluster Fusion for the Behaviors Recognition and Detection of Abnormal Behaviors
In this paper, we propose a novel framework for behaviors recognition and detection of certain types of abnormal behaviors, capable of achieving high detection rates on a variety of real-life scenes. The new proposed approach here is a combination of the location based methods and the object based ones. First, a novel approach is formulated to use optical flow and binary motion video as the loc...
متن کاملDesign Criteria, Applicability and Specifications of Visual Aids to Navigation Signs Used in Ports and Waterways (Case Study of Siraf Pars Service Port and Lavan Oil Terminal)
Due to the range of hazards threatening the navigation of vessels such as collisions with other passing vessels, collisions with structures such as breakwaters, and collisions with the bottom of vessels with the seabed, the design and use of fixed and floating signs should be considered. These signs, in addition to daytime operation, should also be equipped with portable lights to navigate duri...
متن کامل