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Title: Localization Using Single Camera and Lidar in GPS-Denied Environments
Authors: Lezki, Hazal
Yetik, İmam Şamil
Keywords: Visual-Lidar Odometry
localization using camera
localization in gps-denied environment
computer vision
Issue Date: 2020
Publisher: IEEE
Source: 28th Signal Processing and Communications Applications Conference (SIU) -- OCT 05-07, 2020 -- ELECTR NETWORK
Series/Report no.: Signal Processing and Communications Applications Conference
Abstract: Location estimation for ground and air vehicles is mostly realized by fusion of global positioning system (gps / gnss) and data from sensors such as inertial measurement unit, barometer, wheel odometer, etc. However, in case GPS is not available, location estimation is an open problem. Considering the various advantages and disadvantages of all these sensors that can be used for position estimation, it is noticed that there is no single and absolute solution to the problem of three-dimensional, 6 degrees-of-freedom localization. Especially in GPS-denied environments, precise localization methods for ground and air vehicles are still an important research area. While these periods of studies on autonomous vehicles gained speed, the localization problem with camera and lidar has been an alternative research topic which has strengthened its place in the literature. In this study; a new solution is proposed that addresses the problem of 6-DOF localization using a single camera and lidar where gps signal is not available.
ISBN: 978-1-7281-7206-4
ISSN: 2165-0608
Appears in Collections:Elektrik ve Elektronik Mühendisliği Bölümü / Department of Electrical & Electronics Engineering
WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collection

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