G151032 Development of self-localization technology applying to road-going vehicle with 360° around view system using multiple fish-eye cameras

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  • G151032 全周囲魚眼カメラによる自己位置推定技術の公道適用に向けた開発([G151-03]ロボティクスメカトロニクス部門,一般セッション(3))

Abstract

The ability to estimate self-position accurately and robustly is widely regarded as one of the fundamental preconditions to achieve next-generation car navigation and driver assistance systems.The authors have proposed a localization technology that estimates self-position by matching the three-dimensional map and entire circumference fish-eye cameras' images with a particle filter.It has been confirmed that this technology can estimate self-position with high accuracy and strong robustness if the vehicle moves at low speed on a flat road.In order to estimate self-position on the slopes and during high-speed moving,the authors improve this technology to be able to set the scattering range of particles dynamically by referring to the running condition and gradientin formation of three-dimensional map.

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