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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
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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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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)  
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)  
Keyword(1) Ego-localization  
Keyword(2) 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  
5th Author's Affiliation 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
Date of Issue 2008-12-11 (PRMU) 


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