Table of Contents
International Journal of Vehicular Technology
Volume 2011, Article ID 439074, 17 pages
Research Article

GPS and Stereovision-Based Visual Odometry: Application to Urban Scene Mapping and Intelligent Vehicle Localization

Laboratoire Systèmes et Transports, Université de Technologie de Belfort-Montbéliard, 90010 Belfort, France

Received 15 November 2010; Accepted 8 March 2011

Academic Editor: Hwangjun Song

Copyright © 2011 Lijun Wei et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


We propose an approach for vehicle localization in dense urban environments using a stereoscopic system and a GPS sensor. Stereoscopic system is used to capture the stereo video flow, to recover the environments, and to estimate the vehicle motion based on feature detection, matching, and triangulation from every image pair. A relative depth constraint is applied to eliminate the tracking couples which are inconsistent with the vehicle ego-motion. Then the optimal rotation and translation between the current and the reference frames are computed using an RANSAC based minimization method. Meanwhile, GPS positions are obtained by an on-board GPS receiver and periodically used to adjust the vehicle orientations and positions estimated by stereovision. The proposed method is tested with two real sequences obtained by a GEM vehicle equipped with a stereoscopic system and a RTK-GPS receiver. The results show that the vision/GPS integrated trajectory can fit the ground truth better than the vision-only method, especially for the vehicle orientation. And vice-versa, the stereovision-based motion estimation method can correct the GPS signal failures (e.g., GPS jumps) due to multipath problem or other noises.