Authors:
Safa Ouerghi
1
;
Rémi Boutteau
2
;
Pierre Merriaux
2
;
Nicolas Ragot
2
;
Xavier Savatier
2
and
Pascal Vasseur
3
Affiliations:
1
Sup'Com Tunis, Tunisia
;
2
Research Institute for Embedded Systems (IRSEEM-ESIGELEC), France
;
3
University of Rouen, France
Keyword(s):
Absolute Localization, Monocular vision, Structure-From-Motion, Autonomous vehicle, Vehicle Environment Perception.
Related
Ontology
Subjects/Areas/Topics:
Applications
;
Applications and Services
;
Camera Networks and Vision
;
Computer Vision, Visualization and Computer Graphics
;
Motion, Tracking and Stereo Vision
;
Pattern Recognition
;
Robotics
;
Software Engineering
;
Stereo Vision and Structure from Motion
;
Tracking and Visual Navigation
Abstract:
In this paper, we propose an algorithm for estimating the absolute pose of a vehicle using visual data. Our
method works in two steps: first we construct a visual map of geolocalized landmarks, then we localize the
vehicle using this map. The main advantages of our method are that the localization of the vehicle is absolute
and that it requires only a monocular camera and a low-cost GPS. We firstly outline our method, then we
present our experimental results on real images using a reference database: the KITTI Vision Benchmark
Suite.