? Estimation of Vehicle Pose and Position with Monocular Camera at Urban Road Intersections
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Journal of Computer Science and Technology 2017, Vol. 32 Issue (6) :1150-1161    DOI: 10.1007/s11390-017-1790-3
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Estimation of Vehicle Pose and Position with Monocular Camera at Urban Road Intersections
Jin-Zhao Yuan1, Hui Chen1,*, Bin Zhao2, Yanyan Xu3,
1 School of Information Science and Engineering, Shandong University, Jinan 250100, China;
2 Beijing Xuanlongding-xun Technology Co., Ltd., Beijing 100041, China;
3 Department of Civil and Environmental Engineering, Massachusetts Institute of Technology, Cambridge 02139, U.S.A

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Abstract With the rapid development of urban, the scale of the city is expanding day by day. The road environment is becoming more and more complicated. The vehicle ego-localization in complex road environment puts forward imperative requirements for intelligent driving technology. The reliable vehicle ego-localization, including the lane recognition and the vehicle position and attitude estimation, at the complex traffic intersection is significant for the intelligent driving of the vehicle. In this article, we focus on the complex road environment of the city, and propose a pose and position estimation method based on the road sign using only a monocular camera and a common GPS (global positioning system). Associated with the multi-sensor cascade system, this method can be a stable and reliable alternative when the precision of multi-sensor cascade system decreases. The experimental results show that, within 100 meters distance to the road signs, the pose error is less than 2 degrees, and the position error is less than one meter, which can reach the lane-level positioning accuracy. Through the comparison with the Beidou high-precision positioning system L202, our method is more accurate for detecting which lane the vehicle is driving on.
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Keywordsehicle pose and position estimation   road sign detection   homograph matrix   road intersection   urban environment     
Received 2017-06-24;
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This work was supported by the Key Project of National Natural Science Foundation of China under Grant No. 61332015 and the Natural Science Foundation of Shandong Province of China under Grant Nos. ZR2013FM302 and ZR2017MF057.

Corresponding Authors: Yanyan Xu     Email: yanyanxu@mit.edu
About author: Jin-Zhao Yuan is a postgraduate student at the School of Information Science and Engineering in Shandong University,Jinan.His research interests include autonomous driving,camera calibration,and 3D vision analysis.
Cite this article:   
Jin-Zhao Yuan, Hui Chen, Bin Zhao, Yanyan Xu.Estimation of Vehicle Pose and Position with Monocular Camera at Urban Road Intersections[J]  Journal of Computer Science and Technology, 2017,V32(6): 1150-1161
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http://jcst.ict.ac.cn:8080/jcst/EN/10.1007/s11390-017-1790-3
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