| Summary: | 碩士 === 國立交通大學 === 電控工程研究所 === 99 === In recent years, global positioning system (GPS) have been widely used in localization and navigation application, however, GPS can’t provide continuous and accurate service when the GPS signals are not available (e.g., indoors, underground, etc.). In this paper, we present an approach to fuse measurements from an inertial measurement unit (IMU) and a camera for self-localization in GPS-denied multi-storey parking lot. The contributions of our work are fourfold. First, the introduced fuse architecture, instead of fusing the IMU information and the vision directly, we incorporate the IMU information and the vision in different ways when systems encounter different condition. Second, we choose cars as the vehicles, instead of robots, which are controllable in orientation and velocity, this condition make this system more practical. Third, the system in this work has been testing in actual parking structure, the test data obtained from different brand of cars during daytime and nighttime. Fourth, the vision system used in this work uses a slow-frame-rate monocular camera, the proposed system can significantly reduce the demand for hardware. The experiments shows that the vision-aided inertial localization system significantly reduce the error of inertial localization system, and the accuracy of the vision-aided inertial localization system is sufficient to achieve self-positioning of vehicles in the parking lot for the purpose of looking for parking spaces.
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