Paper Abstract and Keywords |
Presentation |
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 |
Abstract |
(in Japanese) |
(See Japanese page) |
(in English) |
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. |
Keyword |
(in Japanese) |
(See Japanese page) |
(in English) |
Vehicle Self-localization / Integration / GNSS / Lane detection / / / / |
Reference Info. |
IEICE Tech. Rep., vol. 115, no. 73, ITS2015-5, pp. 23-28, June 2015. |
Paper # |
ITS2015-5 |
Date of Issue |
2015-05-30 (ITS) |
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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ITS2015-5 |
Conference Information |
Committee |
ITS |
Conference Date |
2015-06-06 - 2015-06-06 |
Place (in Japanese) |
(See Japanese page) |
Place (in English) |
Kyushu Univ. |
Topics (in Japanese) |
(See Japanese page) |
Topics (in English) |
ITS Positioning, etc. |
Paper Information |
Registration To |
ITS |
Conference Code |
2015-06-ITS |
Language |
English |
Title (in Japanese) |
(See Japanese page) |
Sub Title (in Japanese) |
(See Japanese page) |
Title (in English) |
GNSS/INS/On-Board Camera Integration for Autonomous Vehicle Self-Localization |
Sub Title (in English) |
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Keyword(1) |
Vehicle Self-localization |
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Integration |
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GNSS |
Keyword(4) |
Lane detection |
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1st Author's Name |
Yanlei Gu |
1st Author's Affiliation |
The University of Tokyo (Tokyo Univ.) |
2nd Author's Name |
Li-Ta Hsu |
2nd Author's Affiliation |
The University of Tokyo (Tokyo Univ.) |
3rd Author's Name |
Shunsuke Kamijo |
3rd Author's Affiliation |
The University of Tokyo (Tokyo Univ.) |
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Speaker |
Author-1 |
Date Time |
2015-06-06 13:50:00 |
Presentation Time |
25 minutes |
Registration for |
ITS |
Paper # |
ITS2015-5 |
Volume (vol) |
vol.115 |
Number (no) |
no.73 |
Page |
pp.23-28 |
#Pages |
6 |
Date of Issue |
2015-05-30 (ITS) |
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