Precise road line localization using single camera and 3D road model

Kiichiro Ishikawa*, Takashi Onishi, Yoshiharu Amano, Takumi Hashizume, Jun Ichi Takiguchi, Shogo Yoneyama

*この研究の対応する著者

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

In the near future, precise road line location data is said to be applied to car navigation system and ITS to increase the driving safety. It is important to maintain road data freshness and accuracy. A MMS(Mobile Mapping System) can acquire this road database, while offering an unbeatable productivity with the combination of navigation, and videogrammetry tools. The proposed MMS, featuring a GPS/DR(Dead Reckoning) combined navigation system, the 3 axes GPS-Gyro/IMU(Inertial Measurement Unit) , laser scanners, and nearly horizontal cameras, can measure centerline and side-line location precisely considering 3D road surface model based on a laser scanner. The carrier phased D-GPS/DR combined navigation system and GPS-Gyro/IMU performs highly accurate position and posture estimation at a few centimeter and 0.1 degree order. It can be said that the proposed MMS and its unique road signs positioning method is valid and effective as the road sign location error is within 100[mm] even in the slanted road by considering the 3D road surface model.

本文言語English
ホスト出版物のタイトル2006 Proceedings of the 23rd International Symposium on Robotics and Automation in Construction, ISARC 2006
ページ675-680
ページ数6
出版ステータスPublished - 2006
イベント23rd International Symposium on Robotics and Automation in Construction, ISARC 2006 - Tokyo, Japan
継続期間: 2006 10 32006 10 5

出版物シリーズ

名前2006 Proceedings of the 23rd International Symposium on Robotics and Automation in Construction, ISARC 2006

Conference

Conference23rd International Symposium on Robotics and Automation in Construction, ISARC 2006
国/地域Japan
CityTokyo
Period06/10/306/10/5

ASJC Scopus subject areas

  • 人工知能
  • 人間とコンピュータの相互作用
  • 建築および建設

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