1P1-K07 屋外環境下で用いる自律移動システムに関する研究 : 第48報三次元環境モデルと単眼カメラを用いた道路標識位置計測に関する研究(3次元計測/センサフュージョン)

概要

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This paper describes road sign localization using a single camera and 3D environmental model. The proposed Mobile Mapping System (MMS), featuring the carrier phase D-GPS/DR (Dead Reckoning) combined navigation system and the GPS-Gyro/IMU(Inertial Measurement Unit), performs highly accurate positioning performance in centimeters and posture estimation at 0.073[deg](1σ) for heading, 0.064[deg](1σ) for pitch and 0.116[deg](1σ) for roll. In road sign measurement environment, there are many kinds of objects near a road sign which cause serious misidentification. The proposed localization method utilizes different LOS images to identify collect road sign's corresponding laser data to improve localization accuracy.
一般社団法人日本機械学会の論文
2007-05-11