Mono-camera based localization using digital map
Mono-camera based localization using digital map
复制标题
使用数字地图的基于单相机的定位
DOI：
10.1109/iecon.2017.8217454
复制
发表时间：
2017
期刊：
影响因子：
--
通讯作者：
Kei Sato
中科院分区：
文献类型：
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作者：
Keisuke Yoneda;R. Yanase;Mohammad Aldibaja;N. Suganuma;Kei Sato
本文报道了一种基于图像的自动驾驶汽车定位方法。该方法利用单摄像机和低成本的速度和惯性传感器来估计车辆的姿态。应用图像模板匹配以提供所俘获图像与向量结构化数字地图之间的相关性分布。然后使用所获得的相关性来更新车辆姿态的概率。对高速公路上的真实的行驶数据进行了实验。我们评估了所提出的方法在不同的照明条件下的白天和夜间驾驶数据。结果表明，与低成本GNSS/INS相比，该方法能够实时估计出合理的定位误差。
This paper reports an image-based localization for automated vehicle. The proposed method utilizes a mono-camera and a low-cost velocity and inertial sensor to estimate the vehicle pose. Image template matching is applied to provide a correlation distribution between the captured image and a vector structured digital map. A probability of the vehicle pose is then updated using the obtained correlation. The experiments were carried out for real driving data on an expressway. We evaluated the proposed method for daytime and nighttime driving data under different lighting conditions. The results have verified that the proposed method estimates reasonable positioning errors on real-time comparing with a low-cost GNSS/INS.