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In this paper, a feasibility study is conducted to estimate the pose of a vehicle based on a mono-camera using road direction signs and a public online database. The proposed algorithm uses a mono-camera to detect and segment the road direction sign and matches the detected sign image with the reference image in the database to calculate the relative pose between the road sign and the vehicle. Using...
Speed limit determination is a complex task that may be solved by fusing data from GIS (Geographical Information System) and camera sensor. Among the existing data fusion models the Dempster-Shafer Belief Theory is found to be the most appropriate in this application. A confidence measure weights each source output, namely speed limit present on road sign and driving situation. Using the discounting...
This paper focuses on ego-localization using in-vehicle cameras. We propose a 2D ego-localization method using streetscape appearance as a feature of image matching and the triangulation of matching results. The image sequences of two in-vehicle cameras are matched to a database that contains a sequence of streetscape images and their corresponding positions. First, the proposed method searches for...
We propose a method for frame registration between in-vehicle omni-directional and normal cameras aimed at self-position estimation of a vehicle. We assume that the position of a vehicle is estimated by frame registration between the inputted normal camera images and the omni-directional video database with accurate position information. A DTW- based algorithm is used for nonlinear time-series matching...
In many mobile robot application, navigation is a critical issues. This paper deals with the localization and building problem in an unknown indoor environment. We propose an exploration based on the use of the sensorial data provided by one CCD camera and odometer system. In this paper, the first part of our study is linked to the problem of Vehicle Model and the algorithm model. The second part...
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