Paper Abstract and Keywords |
Presentation |
2008-12-18 14:20
Ego-localization by Matching between Streetscape Image Sequence and Image Sequences from Two In-vehicle Cameras Hiroyuki Uchiyama, Daisuke Deguchi (Nagoya Univ.), Tomokazu Takahashi (Gifu Shotoku Gakuen Univ.), Ichiro Ide, Hiroshi Murase (Nagoya Univ.) PRMU2008-159 |
Abstract |
(in Japanese) |
(See Japanese page) |
(in English) |
Precise estimation of ego-localization is required to realize accurate car navigation and driver assistance system such as a collision prevention system. General GPS, however, has from 5 to 30 meters error. As a solution, we propose a method for estimating the two-dimensional self-position by matching images of two in-vehicle cameras with images in a streetscape database which has image sequences and their corresponding positions. First, an image with the most similar appearance is searched from the database. Then, the self-position is calculated based on triangulation by using the position obtained from the database and the directions of two cameras. By taking advantage of the fact that the appearance of a streetscape changes continuously, the sequential image matching algorithm is used to improve the accuracy of the ego-localization. From experimental results, we confirmed the effect of the proposed method. |
Keyword |
(in Japanese) |
(See Japanese page) |
(in English) |
Ego-localization / Appearance / Landmark / DP Matching / / / / |
Reference Info. |
IEICE Tech. Rep., vol. 108, no. 363, PRMU2008-159, pp. 69-74, Dec. 2008. |
Paper # |
PRMU2008-159 |
Date of Issue |
2008-12-11 (PRMU) |
ISSN |
Print edition: ISSN 0913-5685 Online edition: ISSN 2432-6380 |
Copyright and reproduction |
All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034) |
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PRMU2008-159 |
Conference Information |
Committee |
PRMU |
Conference Date |
2008-12-18 - 2008-12-19 |
Place (in Japanese) |
(See Japanese page) |
Place (in English) |
Kumamoto Univ. |
Topics (in Japanese) |
(See Japanese page) |
Topics (in English) |
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Paper Information |
Registration To |
PRMU |
Conference Code |
2008-12-PRMU |
Language |
Japanese |
Title (in Japanese) |
(See Japanese page) |
Sub Title (in Japanese) |
(See Japanese page) |
Title (in English) |
Ego-localization by Matching between Streetscape Image Sequence and Image Sequences from Two In-vehicle Cameras |
Sub Title (in English) |
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Keyword(1) |
Ego-localization |
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Appearance |
Keyword(3) |
Landmark |
Keyword(4) |
DP Matching |
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1st Author's Name |
Hiroyuki Uchiyama |
1st Author's Affiliation |
Nagoya University (Nagoya Univ.) |
2nd Author's Name |
Daisuke Deguchi |
2nd Author's Affiliation |
Nagoya University (Nagoya Univ.) |
3rd Author's Name |
Tomokazu Takahashi |
3rd Author's Affiliation |
Gifu Shotoku Gakuen University (Gifu Shotoku Gakuen Univ.) |
4th Author's Name |
Ichiro Ide |
4th Author's Affiliation |
Nagoya University (Nagoya Univ.) |
5th Author's Name |
Hiroshi Murase |
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Nagoya University (Nagoya Univ.) |
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Speaker |
Author-1 |
Date Time |
2008-12-18 14:20:00 |
Presentation Time |
30 minutes |
Registration for |
PRMU |
Paper # |
PRMU2008-159 |
Volume (vol) |
vol.108 |
Number (no) |
no.363 |
Page |
pp.69-74 |
#Pages |
6 |
Date of Issue |
2008-12-11 (PRMU) |
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