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Journal of Robotics
Volume 2012, Article ID 634758, 15 pages
Research Article

Smart Localization Using a New Sensor Association Framework for Outdoor Augmented Reality Systems

Laboratoire IBISC, EA 4526, Université d'Evry-Val-d'Essonne, 40 rue du Pelvoux, 91020 Evry, France

Received 17 February 2012; Revised 28 May 2012; Accepted 15 June 2012

Academic Editor: Huosheng Hu

Copyright © 2012 F. Ababsa 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.


Augmented Reality (AR) aims at enhancing our the real world, by adding fictitious elements that are not perceptible naturally such as: computer-generated images, virtual objects, texts, symbols, graphics, sounds, and smells. The quality of the real/virtual registration depends mainly on the accuracy of the 3D camera pose estimation. In this paper, we present an original real-time localization system for outdoor AR which combines three heterogeneous sensors: a camera, a GPS, and an inertial sensor. The proposed system is subdivided into two modules: the main module is vision based; it estimates the user’s location using a markerless tracking method. When the visual tracking fails, the system switches automatically to the secondary localization module composed of the GPS and the inertial sensor.