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dc.contributor.authorYuan, Jin-Zhao
dc.contributor.authorChen, Hui
dc.contributor.authorZhao, Bin
dc.contributor.authorXu, Yanyan
dc.date.accessioned2018-04-17T15:35:51Z
dc.date.available2018-10-07T05:00:05Z
dc.date.issued2017-12
dc.identifier.issn1000-9000
dc.identifier.issn1860-4749
dc.identifier.urihttp://hdl.handle.net/1721.1/114758
dc.description.abstractWith the rapid development of urban, the scale of the city is expanding day by day. The road environment is becoming more and more complicated. The vehicle ego-localization in complex road environment puts forward imperative requirements for intelligent driving technology. The reliable vehicle ego-localization, including the lane recognition and the vehicle position and attitude estimation, at the complex traffic intersection is significant for the intelligent driving of the vehicle. In this article, we focus on the complex road environment of the city, and propose a pose and position estimation method based on the road sign using only a monocular camera and a common GPS (global positioning system). Associated with the multi-sensor cascade system, this method can be a stable and reliable alternative when the precision of multi-sensor cascade system decreases. The experimental results show that, within 100 meters distance to the road signs, the pose error is less than 2 degrees, and the position error is less than one meter, which can reach the lane-level positioning accuracy. Through the comparison with the Beidou high-precision positioning system L202, our method is more accurate for detecting which lane the vehicle is driving on. Keywords: vehicle pose and position estimation, road sign detection, homograph matrix, road intersection, urban environmenten_US
dc.publisherSpringer USen_US
dc.relation.isversionofhttp://dx.doi.org/10.1007/s11390-017-1790-3en_US
dc.rightsArticle is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.en_US
dc.sourceSpringer USen_US
dc.titleEstimation of Vehicle Pose and Position with Monocular Camera at Urban Road Intersectionsen_US
dc.typeArticleen_US
dc.identifier.citationYuan, Jin-Zhao, et al. “Estimation of Vehicle Pose and Position with Monocular Camera at Urban Road Intersections.” Journal of Computer Science and Technology, vol. 32, no. 6, Nov. 2017, pp. 1150–61.en_US
dc.contributor.departmentMassachusetts Institute of Technology. Department of Civil and Environmental Engineeringen_US
dc.contributor.mitauthorXu, Yanyan
dc.relation.journalJournal of Computer Science and Technologyen_US
dc.eprint.versionAuthor's final manuscripten_US
dc.type.urihttp://purl.org/eprint/type/JournalArticleen_US
eprint.statushttp://purl.org/eprint/status/PeerRevieweden_US
dc.date.updated2018-01-13T04:23:32Z
dc.language.rfc3066en
dc.rights.holderSpringer Science+Business Media, LLC & Science Press, China
dspace.orderedauthorsYuan, Jin-Zhao; Chen, Hui; Zhao, Bin; Xu, Yanyanen_US
dspace.embargo.termsNen
mit.licensePUBLISHER_POLICYen_US


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