Publication Type

Conference Proceeding Article

Version

publishedVersion

Publication Date

5-2013

Abstract

In most autonomous driving applications, such as parking and commuting, a vehicle follows a previously taken route, or almost the same route. In this paper, we propose a method to localize a vehicle along a previously driven route using images. The proposed method consists of two stages: offline creation of a database, and online localization. In the offline stage, a database is created from images that are captured when the vehicle drives a route for the first time. The database consists of images, 3D positions of feature points estimated by structure-from-motion, and a topological graph. In the online stage, the method first identifies the database image that is most similar to the current image by topometric localization, which considers topological information on a metric scale. The vehicle poses are then estimated from the 3D-2D correspondences of matching feature points between the current image and the identified database image. In an experiment, we estimated vehicle poses using images captured in an indoor parking lot.

Discipline

Databases and Information Systems

Research Areas

Intelligent Systems and Optimization

Publication

Proceedings of the 13th IAPR International Conference on Machine Vision Applications, Kyoto, Japan, 2013 May 20-23

First Page

177

Last Page

180

ISBN

9784901122139

Publisher

MVA Organization

City or Country

Kyoto

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