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http://dx.doi.org/10.5573/ieek.2013.50.3.160

Localization of A Moving Vehicle using Backward-looking Camera and 3D Road Map  

Choi, Sung-In (School of Electrical and Electronic Engineering, Kyungpook National University)
Park, Soon-Yong (School of Computer Science and Engineering, Kyungpook National University)
Publication Information
Journal of the Institute of Electronics and Information Engineers / v.50, no.3, 2013 , pp. 160-173 More about this Journal
Abstract
In this paper, we propose a new visual odometry technique by combining a forward-looking stereo camera and a backward-looking monocular camera. The main goal of the proposed technique is to identify the location of a moving vehicle which travels long distance and comes back to the initial position in urban road environments. While the vehicle is moving to the destination, a global 3D map is updated continuously by a stereo visual odometry technique using a graph theorem. Once the vehicle reaches the destination and begins to come back to the initial position, a map-based monocular visual odometry technqieu is used. To estimate the position of the returning vehicle accurately, 2D features in the backward-looking camera image and the global map are matched. In addition, we utilize the previous matching nodes to limit the search ranges of the next vehicle position in the global map. Through two navigation paths, we analyze the accuracy of the proposed method.
Keywords
Localization; Visual SLAM; Visual odometry;
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