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Paper Abstract and Keywords
Presentation 2009-11-27 11:10
Ego-localization by Matching In-vehicle Camera Images with Aerial Image
Masafumi Noda (Nagoya Univ.), Tomokazu Takahashi (Gifu Shotoku Gakuen Univ.), Daisuke Deguchi, Ichiro Ide, Hiroshi Murase (Nagoya Univ.), Yoshiko Kojima, Takashi Naito (Toyota Central Research & Development Laboratories, Inc.) PRMU2009-118
Abstract (in Japanese) (See Japanese page) 
(in English) In recent years, the ITS technologies are researched actively.
Especially, an accurate ego-localization estimation is becoming very important
function in this field.
By obtaining vehicle position accurately, it is possible to realize smart
driving support system when changing driving lanes or entering cross-road.
This paper proposes accurate ego-localization method consisting of two
steps: (i) projection of in-vehicle camera images onto bird's-eye view, and
(ii) sequential image matching of projection images and an aerial image.
An aerial image is used for obtaining global position of a vehicle without
accumulation error.
We evaluated our method by comparing estimated vehicle position with gold
standards.
Experimental results showed that the average estimation error was 0.61m (SD:
0.27m).
Keyword (in Japanese) (See Japanese page) 
(in English) ITS / Ego-localization / In-vehicle Camera Image / Aerial Image / / / /  
Reference Info. IEICE Tech. Rep., vol. 109, no. 306, PRMU2009-118, pp. 177-182, Nov. 2009.
Paper # PRMU2009-118 
Date of Issue 2009-11-19 (PRMU) 
ISSN Print edition: ISSN 0913-5685    Online edition: ISSN 2432-6380
Copyright
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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 2009-11-26 - 2009-11-27 
Place (in Japanese) (See Japanese page) 
Place (in English) Ishikawa Industrial Promotion Center 
Topics (in Japanese) (See Japanese page) 
Topics (in English)  
Paper Information
Registration To PRMU 
Conference Code 2009-11-PRMU 
Language Japanese 
Title (in Japanese) (See Japanese page) 
Sub Title (in Japanese) (See Japanese page) 
Title (in English) Ego-localization by Matching In-vehicle Camera Images with Aerial Image 
Sub Title (in English)  
Keyword(1) ITS  
Keyword(2) Ego-localization  
Keyword(3) In-vehicle Camera Image  
Keyword(4) Aerial Image  
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Keyword(6)  
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Keyword(8)  
1st Author's Name Masafumi Noda  
1st Author's Affiliation Nagoya University (Nagoya Univ.)
2nd Author's Name Tomokazu Takahashi  
2nd Author's Affiliation Gifu Shotoku Gakuen University (Gifu Shotoku Gakuen Univ.)
3rd Author's Name Daisuke Deguchi  
3rd Author's Affiliation Nagoya University (Nagoya 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.)
6th Author's Name Yoshiko Kojima  
6th Author's Affiliation Toyota Central Research & Development Laboratories, Inc. (Toyota Central Research & Development Laboratories, Inc.)
7th Author's Name Takashi Naito  
7th Author's Affiliation Toyota Central Research & Development Laboratories, Inc. (Toyota Central Research & Development Laboratories, Inc.)
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Speaker Author-1 
Date Time 2009-11-27 11:10:00 
Presentation Time 30 minutes 
Registration for PRMU 
Paper # PRMU2009-118 
Volume (vol) vol.109 
Number (no) no.306 
Page pp.177-182 
#Pages
Date of Issue 2009-11-19 (PRMU) 


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