CUED Publications database

Landmarks based human-like guidance for driving navigation in an urban environment

Wang, B and Stafford-Fraser, Q and Robinson, P and Dias, E and Skrypchuk, L (2017) Landmarks based human-like guidance for driving navigation in an urban environment. In: IEEE Intelligent Transportation Systems Conference, 2017-10-16 to 2017-10-19 pp. 1-6..

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© 2017 IEEE. Driving is a cognitively demanding task, and many current navigation systems present confusing guidance instructions that add to the distraction. Human navigators, by contrast, schedule their advice to minimise distraction, and phrase instructions in terms of visible landmarks to avoid confusion. In this paper, we present the basis for a 'natural navigation' system which interprets distances as references to landmarks. We use Extended Kalman Filtering to integrate visual odometry with other sensor data in order to obtain precise vehicle motion, then, based on the filtered motion parameters, we characterize recognised visual landmarks as locations on the navigational map. The navigation system can then use references to these landmarks in its driver instructions rather than absolute distances. Experimental results show that landmarks can be located on the navigational map with sufficient accuracy using normal vehicle telemetry and a dashboard camera.

Item Type: Conference or Workshop Item (UNSPECIFIED)
Divisions: Div C > Engineering Design
Div C > Materials Engineering
Depositing User: Cron Job
Date Deposited: 17 May 2018 05:46
Last Modified: 13 Apr 2021 07:09
DOI: 10.1109/ITSC.2017.8317802