| Presentation | 2008-12-18 Ego-localization by Matching between Streetscape Image Sequence and Image Sequences from Two In-vehicle Cameras Hiroyuki UCHIYAMA, Daisuke DEGUCHI, Tomokazu TAKAHASHI, Ichiro IDE, Hiroshi MURASE, |
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| PDF Download Page |  PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | Precise estimation of ego-localization is required to realize accurate car navigation and driver assistance system such as a collision prevention system. General GPS, however, has from 5 to 30 meters error. As a solution, we propose a method for estimating the two-dimensional self-position by matching images of two in-vehicle cameras with images in a streetscape database which has image sequences and their corresponding positions. First, an image with the most similar appearance is searched from the database. Then, the self-position is calculated based on triangulation by using the position obtained from the database and the directions of two cameras. By taking advantage of the fact that the appearance of a streetscape changes continuously, the sequential image matching algorithm is used to improve the accuracy of the ego-localization. From experimental results, we confirmed the effect of the proposed method. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | Ego-localization / Appearance / Landmark / DP Matching |
| Paper # | PRMU2008-159 |
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| Conference Information | |
| Committee | PRMU |
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| Conference Date | 2008/12/11(1days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | |
| Topics (in Japanese) | (See Japanese page) |
| Topics (in English) | |
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| Paper Information | |
| Registration To | Pattern Recognition and Media Understanding (PRMU) |
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| Language | JPN |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | Ego-localization by Matching between Streetscape Image Sequence and Image Sequences from Two In-vehicle Cameras |
| Sub Title (in English) | |
| Keyword(1) | Ego-localization |
| Keyword(2) | Appearance |
| Keyword(3) | Landmark |
| Keyword(4) | DP Matching |
| 1st Author's Name | Hiroyuki UCHIYAMA |
| 1st Author's Affiliation | Graduate School of Information Science, Nagoya University() |
| 2nd Author's Name | Daisuke DEGUCHI |
| 2nd Author's Affiliation | Graduate School of Information Science, Nagoya University |
| 3rd Author's Name | Tomokazu TAKAHASHI |
| 3rd Author's Affiliation | Faculty of Economics and Information, Gifu Shotoku Gakuen University |
| 4th Author's Name | Ichiro IDE |
| 4th Author's Affiliation | Graduate School of Information Science, Nagoya University |
| 5th Author's Name | Hiroshi MURASE |
| 5th Author's Affiliation | Graduate School of Information Science, Nagoya University |
| Date | 2008-12-18 |
| Paper # | PRMU2008-159 |
| Volume (vol) | vol.108 |
| Number (no) | 363 |
| Page | pp.pp.- |
| #Pages | 6 |
| Date of Issue | |