IPIU 2018 (제30회 영상처리 및 이해에 관한 워크샵)
Current Result Document : 5 / 5
| 한글제목(Korean Title) |
Fusion of Camera, IMU, and Speedometer for Localization of Autonomous Vehicles |
| 영문제목(English Title) |
Fusion of Camera, IMU, and Speedometer for Localization of Autonomous Vehicles |
| 저자(Author) |
Chang-Ryeol Lee
Kuk-Jin Yoon
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| 원문수록처(Citation) |
VOL 30 NO. 01 PP. P3 ~ 0004 (2018. 02) |
한글내용
(Korean Abstract) |
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영문내용
(English Abstract) |
Visual-inertial odometry (VIO) for autonomous vehicles provides ego-motion estimates with the help of an inertial measurement unit (IMU). However, VIO in large-scale outdoor environments is limited in its ability to estimate translational motion owing to forward motion degeneracy. In this paper, we propose an approach to estimate the ego-motion of a vehicle using a camera, an IMU, and a speedometer. The speed measurement model is incorporated into the Bayesian VIO framework, and a state re-initialization is applied based on the speed measurements. Experiments using the public KITTI dataset show the superiority of the proposed method compared to conventional VIO and stereo-based visual odometry. Furthermore, the proposed method achieves about 20 Hz frame rates for real-time autonomous driving.
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