| DRIFT COMPENSATION OF MONO-VISUAL ODOMETRY AND
VEHICLE LOCALIZATION USING PUBLIC ROAD SIGN DATABASE |
| Chanhee Jang1, Young-Keun Kim2 |
1Advanced Technology Inc.
2Handong Global Unibersity |
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| ABSTRACT |
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This paper proposes a novel localization method based on a camera that can estimate the absolute position of
a vehicle using a public online database of road signs. The estimated absolute position near a road sign is used to compensate
the drift error of visual odometry (VO). In the first phase, the relative position between a road sign and a vehicle is estimated
by matching a detected road sign image with the reference image from a public online database. Subsequently, the absolute
position of the vehicle is calculated using the data from the database. Once the absolute position of the vehicle is estimated
near a road sign, the current position of VO is updated to compensate the accumulated error. From a 24-km driving road test,
it is validated that the proposed algorithm can estimate the absolute position of a vehicle within an error of 1.5 m. Moreover,
a test of trajectory 3 km showed that it can maintain the drift error of VO within tens of meters. Our method is easy to be
deployed, has low computation cost, and is accessible to a wide range of driving environments such as highways. |
| Key Words:
Vision ADAS, Vehicle localization, Road sign detection, Visual odometry, Drift compensation |
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Corresponding Author.
Young-Keun Kim , Email. 
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