From TAXISAT to inLane: Towards Low Cost GNSS and Computer Vision Fusion for Accurate Lane Level

Navigation and Enhanced Automatic Map Generation

The importance of ITS

• The Global Market for ITS Technologies is estimated to grow to €50BN by 2020.

• Automotive Industry is one of the most innovative sectors

– Driver Assistance

– Autonomous vehicles

• Sensor Fusion is essential : no sole positioning sensor covers all requirements and constraints

• Combination of computer vision, 3D Maps and GNSS technologies are fostering new solutions not only for driving assistance but for unmanned vehicles

Technology trends

Our basic ideaTake advantage of EGNOS/EDAS and GALILEO capabilities, augmented by hybridization with low-cost sensors (cameras, gyroscope, accelerometer…), to improve localization performances while reducing production costs.

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Our first approach: TAXISAT• Objective: develop a robotic driverless GNSS and SLAM

based taxi application capable to operate cost effectively, safely and with a high reliability within private circumscribed sites whatever their topographic configurations are.

Start date: 01/04/2012Duration: 24 months

TAXISAT

What happened since TAXISAT (2014)?

Start from generated background:

• Fusion of Visual Odometry and EGNSS signal

• EGNOS usage studies

Towards:

• Lane Level Navigation in public roads

• Local Dynamic Map generation

• High Precision Cartography generation

• Crowdsourced map updates

Solution for niche market

Solution for mass market

Coordinator: Vicomtech – IK4Duration: 1 January 2016 – 30 June 2018

• Industrial partners representing the main sectors:

– Cartography & Navigation Solution: TOMTOM

– Electronics & Components: INTEL

– Automotive & Robotic Industry: HONDA

• SME specialised in GNSS: TeleConsult Austria

• Computer Vision Research

– Visual Odometry: TUE

– Object recognition: Vicomtech

– LDM, Camera to Map alignment: HONDA

• Standarization: IFSSTAR

• End Users/Stakeholders: RACC / ERTICO

• Test sites:

– Barcelona

– DITCM

Local Dynamic Map generation

Estimation of vehicle position Scene understanding

GNSS Receiver + IMU

EDAS

Visual Odometry

Lane detection

Traffic Sign Recognition

Local Dynamic Map generation

Estimation of vehicle position Scene understanding

GNSS Receiver + IMU

EDAS

Visual Odometry

Lane detection

Traffic Sign Recognition

Cloud

• In-vehicle computer: navigation system / driver assistance / Autonomous Driving.

• Aftermarket device: navigation system / driver assistance.

• Smartphone: navigation system / driver assistance.

Target products

Barcelona

Test sites

Currently…

Working on first prototype:• Defined requirements and architecture.• Integrating first version of SW modules.• Preparing testing:

• Defined methodology.• Setting up instrumented vehicle

(HW & SW).

Conclusions• ITS Market represents a huge opportunity for the GNSS

sector– From driver assistance solutions to autonomous vehicles

• Sensor cost will be a limiting factor for the technology penetration

• Sensor fusion is the key for the next generation affordable high automated vehicles – Precise and enriched Cartography is the first step towards

the autonomous vehicles

• Standards: need to develop GNSS performance standards to ease the deployment of ITS application based on GNSS solutions

Web:

http://inlane.eu/

Mail:Gorka Vélezgvelez@vicomtech.org

More information