Accurate localization of moving sensors is essential for many fields, such as robot navigation and urban mapping. In this paper, we present a framework for GPS-supported visual Simultaneous Localization and Mapping with Bundle Adjustment (BA-SLAM) using a rigorous sensor model in a panoramic camera. The rigorous model does not cause system errors, thus representing an improvement over the widely used ideal sensor model. The proposed SLAM does not require additional restrictions, such as loop closing, or additional sensors, such as expensive inertial measurement units. In this paper, the problems of the ideal sensor model for a panoramic camera are analysed, and a rigorous sensor model is established. GPS data are then introduced for global optimization and georeferencing. Using the rigorous sensor model with the geometric observation equations of BA, a GPS-supported BA-SLAM approach that combines ray observations and GPS observations is then established. Finally, our method is applied to a set of vehicle-borne panoramic images captured from a campus environment, and several ground control points (GCP) are used to check the localization accuracy. The results demonstrated that our method can reach an accuracy of several centimetres.

In this study, a novel unsupervised method for global urban area mapping is proposed. Different from traditional clustering-based unsupervised methods, in our approach a labeler is designed, which is able to automatically select training samples from satellite images by propagating common urban/non-urban knowledge through the unlabeled data. Two kinds of satellite images, captured by the Advanced Spaceborne Thermal Emission and Reflection Radiometer (ASTER) and the Phased Array L-band Synthetic Aperture Radar (PALSAR), are exploited here. In this method, spectral features are first extracted from the original dataset, followed by coarse prediction of urban/non-urban areas via weak classifiers. By developing an improved belief-propagation based clustering algorithm, a confidence map is obtained and training data are selected via weighted sampling. Finally, the urban area map is obtained by employing the Support Vector Machine (SVM) classifier. The proposed method can generate urban areamaps at a resolution of 15 m, while the same settings are used for all test cases. Experimental results involving 75 scenes from different climate zones show that our proposed method achieves an overall accuracy of 84.4% and a kappa coefficient of 0.628, which is competitive relative to the supervised SVM method.