Presentation 2006/3/16
Self-Location Estimation of Monocular Camera Using GPS and Buildings Map
Toshiyuki ADACHI, Katsuya KONDO, Syoji KOBASHI, Yutaka HATA,
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Abstract(in English) Applications as visual navigation of mobile robot with image sensor and mixed/augmented reality have been investigated actively. Many of these techniques require the location information of robot or human. And the detailed maps in urban areas have been provided gradually. In this report, we propose a method for estimating camera position by comparing the camera image with the map data corresponding to GPS information. The technique can be applied to outdoor environment and the purpose is to estimate the camera position simply by using the outward form of buildings on the map. It is achieved by matching corners of buildings of camera image as feature points to the map. The experimental results show that the proposed method can estimate the camera position more correctly and stably than that using only simple GPS.
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Keyword(in English) Camera Position / Monocular Vision / GPS / Map Data / Building Extraction
Paper # SIS2005-72
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Committee SIS
Conference Date 2006/3/16(1days)
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Registration To Smart Info-Media Systems (SIS)
Language JPN
Title (in Japanese) (See Japanese page)
Sub Title (in Japanese) (See Japanese page)
Title (in English) Self-Location Estimation of Monocular Camera Using GPS and Buildings Map
Sub Title (in English)
Keyword(1) Camera Position
Keyword(2) Monocular Vision
Keyword(3) GPS
Keyword(4) Map Data
Keyword(5) Building Extraction
1st Author's Name Toshiyuki ADACHI
1st Author's Affiliation Graduate School of Engineering, University of Hyogo()
2nd Author's Name Katsuya KONDO
2nd Author's Affiliation Graduate School of Engineering, University of Hyogo
3rd Author's Name Syoji KOBASHI
3rd Author's Affiliation Graduate School of Engineering, University of Hyogo
4th Author's Name Yutaka HATA
4th Author's Affiliation Graduate School of Engineering, University of Hyogo
Date 2006/3/16
Paper # SIS2005-72
Volume (vol) vol.105
Number (no) 678
Page pp.pp.-
#Pages 6
Date of Issue