講演抄録/キーワード |
講演名 |
2015-06-06 13:50
GNSS/INS/On-Board Camera Integration for Autonomous Vehicle Self-Localization ○Yanlei Gu・Li-Ta Hsu・Shunsuke Kamijo(Tokyo Univ.) ITS2015-5 |
抄録 |
(和) |
(まだ登録されていません) |
(英) |
This paper presents a localization system for autonomous driving by integrating global navigation satellite systems (GNSS), inertial navigation sensors (INS) and on-board camera. GNSS based positioning technique suffers from the effect of multipath and Non-Line-Of-Sight (NLOS) propagation in urban canyon. The positioning error can be reduced by integrating GNSS/INS system. However, it is still difficult to distinguish the occupied lane. Lane marks on road surface provides important visual sources of information for driving. This paper proposes to detect and track the occupied lane of ego-vehicle using on-board camera. The lane detection and tracking result is integrated with GNSS/INS system for error reduction. |
キーワード |
(和) |
/ / / / / / / |
(英) |
Vehicle Self-localization / Integration / GNSS / Lane detection / / / / |
文献情報 |
信学技報, vol. 115, no. 73, ITS2015-5, pp. 23-28, 2015年6月. |
資料番号 |
ITS2015-5 |
発行日 |
2015-05-30 (ITS) |
ISSN |
Print edition: ISSN 0913-5685 Online edition: ISSN 2432-6380 |
著作権に ついて |
技術研究報告に掲載された論文の著作権は電子情報通信学会に帰属します.(許諾番号:10GA0019/12GB0052/13GB0056/17GB0034/18GB0034) |
PDFダウンロード |
ITS2015-5 |