This paper introduces a novel method for vehicle pose estimation and motion tracking using visual features. The method combines ideas from research on visual odometry with a feature map that is automatically generated from aerial images into a Visual Navigation System. Given an initial pose estimate, e.g. from a GPS receiver, the system is capable of robustly tracking the vehicle pose in geographical coordinates over time, using image data as the only input. Experiments on real image data have shown that the precision of the position estimate with respect to the feature map typically lies within only several centimeters. This makes the algorithm interesting for a wide range of applications like navigation, path planning or lane keeping.
Visual features for vehicle localization and ego-motion estimation
2009 IEEE Intelligent Vehicles Symposium ; 254-260
2009-06-01
8097765 byte
Conference paper
Electronic Resource
English
Visual Features for Vehicle Localization and Ego-Motion Estimation
British Library Conference Proceedings | 2009
|MONOCULAR VISUAL LOCALIZATION USING ROAD STRUCTURAL FEATURES
British Library Conference Proceedings | 2014
|European Patent Office | 2021
|