Abstract
The subject of this paper is the fusion of measurement data from IMU (Inertial Measurement Unit), GPS (Global Positioning System) sensors and cameras used in autonomous vehicles to locate an autonomous land vehicle. The experimental part presents the design of a fusion filter, which based on the fusion of data from the IMU, GPS, and camera can determine the position, orientation and speed of the land vehicle. The design of the fusion filter was tested using several simulations in the Matlab environment, the results of which are analyzed at the end of this paper.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Fujdiak, R., Mlynek, P., Misurec, J., Slacik, J.: Simulation of intelligent public light system in smart city. In: 2017 Progress In Electromagnetics Research Symposium-Spring (PIERS). IEEE, pp. 2515–2519 (2017)
Kromer, P., Hasal, M., Nowakova, J., Heckenbergerova, J., Musilek, P.: Statistical and nature-inspired modeling of vehicle flows by using finite mixtures of simple circular normal distributions. IEEE Intell. Transp. Syst. Mag. 12(4), 182–194 (2020)
Fujdiak, R., Masek, P., Hosek, J., Mlynek, P., Misurec, J.: Efficiency evaluation of different types of cryptography curves on low-power devices. In: 2015 7th International Congress on Ultra Modern Telecommunications and Control Systems and Workshops (ICUMT), pp. 269–274. IEEE (2015)
Raso, O., Mlynek, P., Fujdiak, R., Pospichal, L., Kubicek, P.: Implementation of elliptic curve Diffie Hellman in ultra-low power microcontroller. In :2015 38th International Conference on Telecommunications and Signal Processing (TSP), pp. 662–666. IEEE (2015)
Fujdiak, R., Misurec, J., Mlynek, P., Janer, L.: Cryptograph key distribution with elliptic curve Diffie-Hellman algorithm in low-power devices for power grids. Revue Roum. des Sci. Techn. 84–88 (2016)
Krivtsova, I., Lebedev, I., Sukhoparov, M., Bazhayev, N., Zikratov, I., Ometov, A., Andreev, S., Masek, P., Fujdiak, R., Hosek, J.: Implementing a broadcast storm attack on a mission-critical wireless sensor network. In: International Conference on Wired/Wireless Internet Communication, pp. 297–308. Springer, Berlin
Fujdiak, R., Mlynek, P., Misurec, J., Masek, P.: Design of low-power random number generator using signal quantization error in smart grid. In: 2016 39th International Conference on Telecommunications and Signal Processing (TSP), pp. 7–10. IEEE (2016)
Mlynek, P., Misurec, J., Koutny, M., Fujdiak, R., Jedlicka, T.: Analysis and experimental evaluation of power line transmission parameters for power line communication. Meas. Sci. Rev. 15(2), 64 (2015)
Mlynek, P., Misurec, J., Kolka, Z., Slacik, J., Fujdiak, R.: Narrowband power line communication for smart metering and street lighting control. IFAC-PapersOnLine 48(4), 215–219 (2015)
Stava, M.: On precise fault localization and identification in noc architectures. In: 2019 22nd Euromicro Conference on Digital System Design (DSD), pp. 478–484 (2019)
Stava, M.: Efficient error recovery scheme in fault-tolerant NoC architectures. In: 2019 IEEE 22nd International Symposium on Design and Diagnostics of Electronic Circuits & Systems (DDECS), pp. 1–4 (2019)
Fujdiak, R., Masek, P., Mlynek, P., Misurec, J., Olshannikova, E.: Using genetic algorithm for advanced municipal waste collection in smart city. In: 2016 10th International Symposium on Communication Systems, Networks and Digital Signal Processing (CSNDSP), pp. 1–6 . IEEE (2016)
Krömer, P., Nowaková, J., Hasal, M.: Towards a new evolutionary algorithm for the minimum tollbooth problem. In International Conference on Computational Social Networks, pp. 116–125. Springer, Berlin (2018)
Fujdiak, R., Masek, P., Mlynek, P., Misurec, J., Muthanna, A.: Advanced optimization method for improving the urban traffic management. In: 2016 18th Conference of Open Innovations Association and Seminar on Information Security and Protection of Information Technology (FRUCT-ISPIT), pp. 48–53. IEEE (2016)
Masek, P., Fujdiak, R., Zeman, K., Hosek, J., Muthanna, A.: Remote networking technology for IoT: cloud-based access for Alljoyn-enabled devices. In: 2016 18th Conference of Open Innovations Association and Seminar on Information Security and Protection of Information Technology (FRUCT-ISPIT), pp. 200–205. IEEE (2016)
Stava, M.: A synthesis of reversible digital circuits to solve the Boolean satisfiability. In: Proceedings of the Fourth International Conference on Microelectronics, Computing and Communication Systems, pp. 233–246. Springer Singapore, Singapore (2021)
Falco, G., Einicke, G.A., Malos, J.T., Dovis, F.: Performance analysis of constrained loosely coupled GPS/INS integration solutions. Sensors 12(11), 15,983–16,007 (2012)
Nguyen, V.H., et al.: Loosely coupled GPS/INS integration with Kalman filtering for land vehicle applications. In: 2012 International Conference on Control, Automation and Information Sciences (ICCAIS), pp. 90–95. IEEE (2012)
Corke, P., Lobo, J., Dias, J.: An introduction to inertial and visual sensing, pp. 519–535 (2007)
Li , M., Mourikis, A.I.: Improving the accuracy of EKF-based visual-inertial odometry. In: 2012 IEEE International Conference on Robotics and Automation, pp. 828–835. IEEE (2012)
Li , M., Mourikis, A.I.: High-precision, consistent EKF-based visual-inertial odometry. Int. J. Robot. Res. 32(6), 690–711 (2013)
Acknowledgment
The paper was partially supported by the Slovak Research and Development Agency, grant No. APVV-17-0190 and the Slovak Cultural Educational Grant Agency, grant No.039STU-4/2021. The research presented in this paper was also partially supported by Technology Agency of the Czech Republic via grant reg. no. TK02030013.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2023 The Author(s), under exclusive license to Springer Nature Switzerland AG
About this paper
Cite this paper
Valocky, F., Grnac, A., Orgon, M., Bohacik, A. (2023). AVL Based on Fusion of IMU, GPS and Camera Sensors. In: Silhavy, R., Silhavy, P., Prokopova, Z. (eds) Software Engineering Application in Systems Design. CoMeSySo 2022. Lecture Notes in Networks and Systems, vol 596. Springer, Cham. https://doi.org/10.1007/978-3-031-21435-6_31
Download citation
DOI: https://doi.org/10.1007/978-3-031-21435-6_31
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-031-21434-9
Online ISBN: 978-3-031-21435-6
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)