로봇학회논문지 (The Journal of Korea Robotics Society)

  • 제11권3호
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  • Pages.172-182
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  • 2016
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  • 1975-6291(pISSN)
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  • 2287-3961(eISSN)
한국로봇학회 (Korea Robotics Society)
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교통 표지판의 3차원 추적 경로를 이용한 자동차의 주행 차로 추정

Lane-Level Positioning based on 3D Tracking Path of Traffic Signs

  • 투고 : 2016.04.22
  • 심사 : 2016.05.31
  • 발행 : 2016.08.31
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초록

Lane-level vehicle positioning is an important task for enhancing the accuracy of in-vehicle navigation systems and the safety of autonomous vehicles. GPS (Global Positioning System) and DGPS (Differential GPS) are generally used in navigation service systems, which however only provide an accuracy level up to 2~3 m. In this paper, we propose a 3D vision based lane-level positioning technique which can provides accurate vehicle position. The proposed method determines the current driving lane of a vehicle by tracking the 3D position of traffic signs which stand at the side of the road. Using a stereo camera, the 3D tracking paths of traffic signs are computed and their projections to the 2D road plane are used to determine the distance from the vehicle to the signs. Several experiments are performed to analyze the feasibility of the proposed method in many real roads. According to the experimental results, the proposed method can achieve 90.9% accuracy in lane-level positioning.

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참고문헌

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피인용 문헌

  1. Path Planning for Parking using Multi-dimensional Path Grid Map vol.12, pp.2, 2017, https://doi.org/10.7746/jkros.2017.12.2.152