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Near Real-Time Road Centerline Extraction
Near Real-Time Road Centerline Extraction
Center for Mapping, The Ohio State University, 1216 Kinnear Road, Columbus, OH 43212-1154, USA
Department of Civil and Environmental Engineering and Geodetic Science2, The Ohio State University
toth@cfm.ohio-state.edu
Commission III
KEY WORDS: Mobile Mapping, Image Sequence Processing, Direct Sensor Orientation, Real-Time Systems
ABSTRACT:
In this paper a new GPS/INS/CCD integrated system for precise monitoring of highway center and edge lines is presented. The
system has been developed at The Ohio State University (OSU) for the Ohio Department of Transportation (ODOT). The positioning
component of the system is based on tightly integrated GPS/INS (dual frequency GPS receiver and a high-accuracy strapdown INS),
and the imaging component comprises a fast, color digital camera from Pulnix (TMC-6700, based on 644 by 482 CCD, with the
acquisition rate up to 30 Hz), installed in a down-looking position. The high image rate provides sufficient overlap of the subsequent
images at reduced highway speed. The stereo image data processing is supported in near real-time by on-the-fly navigation solution.
In this paper, we discuss the design, algorithmic solution and operational aspects, as well as the calibration and performance analysis
of the developed system. Feasibility of the application of real-time navigation data to on-the-fly image processing is also presented.
In particular, a performance analysis of the integrated system, based on reference ground control, is discussed.
Power Trimble
supply 4000ssi
BitFlow INS INS
CL 1553B Power
Cable 1PPS Office Cable Cable
Adaptor Module
1PPS
Imaging
INS PC
PC LAN
VGA, Mouse
Power strip DC/AC
Keyboard 110 AC
VGA, keyboard, mouse connections are not shown Figure 2. Mapping vehicle.
12-24 VDC
RGB to S RGB to S
Transformation Transformation
Image
Median Filter Median Filter
Preprocessing Binary Conversion Binary Conversion
Feature Point
Matching
Stereo Image Processing
Affine Model
Formation
Centerline Strip
Formation
Export to GIS/CAD
To assess the feasibility of the real-time image sequence The details of the concept of the use of real-time
processing in stereo mode, several simulations as well as real navigation data to support on-the-fly image processing are
tests were performed. For example, for real-time EO presented in (Toth and Grejner-Brzezinska, 2001a and b;
parameter accuracy of 3 cm and 0.5° respectively, the image Grejner-Brzezinska and Toth 2002). In this paper, we only
matching based on a 20 feature point model, executed on a present the estimated real-time navigation accuracy to
dual Pentium 4 at 1.7 GHz is about 0.26 s, allowing for a support the claim that the currently implemented hardware
maximum image rate of 4 Hz, while errors in EO of 0.5 cm (Litton LN100) provides sufficient short-term accuracy to
and 0.1°, respectively, allow for image rate of 21 Hz, since enable image matching in real time. In other words, the
the total image matching time is only 0.048 s (Toth and change in position and attitude between two image captures
Grejner-Brzezinska, 2001a). Obviously, the image rate can be can be estimated at the accuracy level that the image
increased by using a smaller number of feature points such as matching can be achieved at real-time. In order to
a 6-10 point model, which will result in a 10 Hz rate at the demonstrate this accuracy, the reference solution based on
coarser EO accuracy however, the robustness of the process GPS/INS data was used as a ground truth, while free
can be impacted. Based on simulation tests, the low-level navigation solution provided the actual real-time trajectory.
image processing tasks up to the polyline extraction seem to Since two consecutive images collected at (typically) 10 Hz
execute fast enough for real-time execution. The more rate (which allows for about 1.3 m overlap), are matched
complex image matching, however, may be a less realistic using RO parameters provided by the real-time navigation
target for full real-time implementation. solution, the primary accuracy measure for RO is the epoch-
to-epoch rate of change of position and attitude error
estimates. In practical terms, if two subsequent images are
similarly misoriented (i.e., contain a similar amount of error)
with respect to the reference solution (GPS/INS), then fast As already indicated, the navigation solution estimated
stereo reconstruction should be feasible. The final, absolute standard deviations are typically at the level of 2-3 cm for
image orientation can be performed in post-processing. position coordinates, and ~10 arcsec and 10-20 arcsec for
Figure 5 and 6 illustrates typical differences observed attitude and heading components, respectively, based on the
between the post-processed GPS/INS and free navigation variance covariance matrix, for short to medium baselines,
mode coordinates, and the corresponding rate of change of and favorable GPS constellation and signal continuity. Figure
these differences. Figures 7 and 8 correspond to Figures 5 7 shows typical results for the positions. Naturally, the
and 6, but illustrate the case of a sharp turn, where the ultimate measure of the georeferencing performance is the
navigation parameters between the two solutions can vary the testing of the integrated (calibrated) system, where the
most. navigation and image components work in synch, and
provide the final coordinates of the features on the ground.
These, in turn, can be compared to the independently
acquired ground truth. The MMS discussed here has been
calibrated and tested using the ground control points
surveyed by GPS and conventional surveying methods, with
the accuracy of 1-2 cm in horizontal and 2-3 cm in vertical
coordinates. The results of these analyses are presented in
Section 6.
6. PERFORMANCE ANALYSIS