한국자동차공학회논문집 (Transactions of the Korean Society of Automotive Engineers)

  • 제22권3호
  • /
  • Pages.50-59
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  • 2014
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  • 1225-6382(pISSN)
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  • 2234-0149(eISSN)
한국자동차공학회 (The Korean Society of Automotive Engineers)
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칼만필터 기반의 도로표지판 추적을 이용한 차량의 횡방향 위치인식

Lane Positioning in Highways Based on Road-sign Tracking by Kalman Filter

  • Lee, Jaehong (Department of Electronic Engineering, Inha University) ;
  • Kim, Hakil (School of Information and Communication Engineering, Inha University)
  • 투고 : 2013.10.31
  • 심사 : 2014.03.08
  • 발행 : 2014.04.01
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초록

This paper proposes a method of localization of vehicle especially the horizontal position for the purpose of recognizing the driving lane. Through tracking road signs, the relative position between the vehicle and the sign is calculated and the absolute position is obtained using the known information from the regulation for installation. The proposed method uses Kalman filter for road sign tracking and analyzes the motion using the pinhole camera model. In order to classify the road sign, ORB(Oriented fast and Rotated BRIEF) features from the input image and DB are matched. From the absolute position of the vehicle, the driving lane is recognized. The Experiments are performed on videos from the highway driving and the results shows that the proposed method is able to compensate the common GPS localization errors.

키워드

참고문헌

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피인용 문헌

  1. Corner Detection-based Road Sign Detection for Low-cost Sensor Fusion-based Precise Localization System vol.26, pp.1, 2018, https://doi.org/10.7467/KSAE.2018.26.1.020