自动化学报2017，Vol.43Issue(5)：725-734,10.DOI:10.16383/j.aas.2017.c160413
基于道路结构特征的智能车单目视觉定位
Road Structural Feature Based Monocular Visual Localization for Intelligent Vehicle
摘要
Abstract
Precise localization is an essential issue for autonomous driving applications, while global positioning system (GPS)-based systems are challenged to meet requirements such as lane-level accuracy, especially in crowded urban envi-ronment. This paper introduces a new visual-based localization approach in dynamic traffic environments, focusing on structured roads like straight roads or intersections. Such environments show several line segments on lane markings, curbs, poles, building edges, etc., which demonstrate the road's longitude, latitude and vertical directions. Based on this observation, we define a road structural feature (RSF) as sets of segments along three perpendicular axes together with feature points, and propose an RSF based monocular visual localization method. Extensive experiments are conducted on three typical scenarios, including highway, intersection and downtown streets. Results show better accuracy compared with a state-of-the-art visual localization method using feature points. We demonstrate that the proposed method can help improving localization accuracy in GPS restricted area, and discuss the remained challenges leading to future studies.关键词
单目相机/视觉定位/道路结构特征/三垂线Key words
Monocular camera/visual localization/road structural feature (RSF)/perpendicular axes引用本文复制引用
俞毓锋,赵卉菁,崔锦实,査红彬..基于道路结构特征的智能车单目视觉定位[J].自动化学报,2017,43(5):725-734,10.基金项目
国家高技术研究发展计划(863 计划)(2012AA011801), 国家自然科学基金(61573027) 资助 Supported by National High Technology Research and Devel-opment Program of China(863 Program)(2012AA011801), and National Natural Science Foundation of China(61573027) （863 计划）
