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 and reproduction |
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PRMU2009-118 |
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