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This paper reports an image-based localization for automated vehicle. The proposed method utilizes a mono-camera and a low-cost velocity and inertial sensor to estimate the vehicle pose. Image template matching is applied to provide a correlation distribution between the captured image and a vector structured digital map. A probability of the vehicle pose is then updated using the obtained correlation...
Automated vehicle researches move on to the public road experiments. This study focuses on a traffic signal detection based on mono-camera, predefined map database and accurate vehicle pose which is estimated by a localization module. By using the map data and the vehicle pose, an image ROI (Region-Of-Interest) can be calculated. This paper handles a situation with multiple signals appeared in an...
Localization is one of the core techniques of autonomous vehicle. In this paper, we proposed the localization algorithm for autonomous vehicle, and show it is more suitable than the GPS/IMU system.
Recently, fully automated autonomous vehicles have been developed, and field examinations in public road have also been conducted, especially in United States. In this paper, preparation of our laboratory toward field examination of the autonomous vehicle is reported. Additionally, overview of demonstration in the ITS world Congress 2013 (ITSWC2013) is reported.
In Japan, The Tokyo motor show (TMS2011) was held in December 2011 at Tokyo, Japan. In the TMS2011, a themed project called The SMART MOBILITY CITY 2011 (SMC2011) was held to exhibit some next-generation vehicle. In the SMC2011, special test course was made and some autonomous vehicles were exhibited from five organizations in Japan. In those autonomous vehicles, our laboratory of Kanazawa University...
The driving support system is most important research areas in intelligent transport system (ITS). Moreover, obstacle detection is one of the key technologies, and we have proposed such system based on stereovision system. Additionally, to assist driving safely, it is necessary to extract dynamic objects and alert driver faster. In our previous report, we proposed dynamic objects extraction method...
We have been developing an autonomous platooning system of heavy trucks aimed at enhancing its energy efficiency by shortening headway distance between trucks. In this paper, we focused on developing a forward environment perception method for fully automated lead vehicle of the autonomous platooning system. To percept the forward environment of autonomous platooning system, it is important to robustly...
The driving support is one of the most important research areas in intelligent transport system (ITS). Moreover, obstacle extraction system is one of most important system, and we have proposed such system based on stereovision system. In our previous report, we proposed moving objects extraction method based on Occupancy Grid Maps. However, there is a problem that it is difficult to cluster each...
For a purposes of reduction of driving workload, traffic accidents, and so on, autonomous vehicle systems, which can drive even though no human driver rides on, have been developed all over the world. Recently, it is considered that a part of such techniques play an important roll to energy saving. To navigate the autonomous vehicle in a complex environment, it is necessary to extract static objects...
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