This thesis paper presents a simultaneous 3D mapping and geolocation of road surface technique that combines local road surface mapping and global camera localization. The local road surface is generated by structure from motion (SFM) with multiple views and optimized by Bundle Adjustment (BA). A system is developed for the global reconstruction of 3D road surface. Using the system, the proposed technique globally reconstructs 3D road surface by estimating the global camera pose using the Adaptive Extended Kalman Filter (AEKF) and integrates it with local road surface reconstruction techniques. The proposed AEKF-based technique uses image shift as prior. And the camera pose was corrected with the sparse low-accuracy Global Positioning System (GPS) data and digital elevation map (DEM). The AEKF adaptively updates the covariance of uncertainties such that the estimation works well in environment with varying uncertainties. The image capturing system is designed with the camera frame rate being dynamically controlled by vehicle speed read from on-board diagnostics (OBD) for capturing continuous data and helping to remove the effects of moving vehicle shadow from the images with a Random Sample and Consensus (RANSAC) algorithm. The proposed technique is tested in both simulation and field experiment, and compared with similar previous work. The results show that the proposed technique achieves better accuracy than conventional Extended Kalman Filter (EKF) method and achieves smaller translation error than other similar other works. / Master of Science / This thesis paper presents a simultaneous three dimensional (3D) mapping and geolocation of road surface technique that combines local road surface mapping and global camera localization. The local road surface is reconstructed by image processing technique with optimization. And the designed system globally reconstructs 3D road surface by estimating the global camera poses using the proposed Adaptive Extended Kalman Filter (AEKF)-based method and integrates with local road surface reconstructing technique. The camera pose uses image shift as prior, and is corrected with the sparse low-accuracy Global Positioning System (GPS) data and digital elevation map (DEM). The final 3D road surface map with geolocation is generated by combining both local road surface mapping and global localization results. The proposed technique is tested in both simulation and field experiment, and compared with similar previous work. The results show that the proposed technique achieves better accuracy than conventional Extended Kalman Filter (EKF) method and achieves smaller translation error than other similar other works.
| Identifer | oai:union.ndltd.org:VTETD/oai:vtechworks.lib.vt.edu:10919/85470 |
| Date | 23 October 2018 |
| Creators | Li, Diya |
| Contributors | Mechanical Engineering, Furukawa, Tomonari, Kochersberger, Kevin B., Sandu, Corina |
| Publisher | Virginia Tech |
| Source Sets | Virginia Tech Theses and Dissertation |
| Detected Language | English |
| Type | Thesis |
| Format | ETD, application/pdf |
| Rights | In Copyright, http://rightsstatements.org/vocab/InC/1.0/ |
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