Precise Compensation of Estimated Distance by Pose Estimation using Camera-IMU Sensor Fusion

초록

This paper presents a novel method to correct with only the camera and IMU sensors an estimated distance error due to a rapid change in a vehicle’s posture while driving, as it is very important to estimate the distance of a front car in autonomous driving. To estimate the change in vehicle’s posture, the proposed method adopts a visual odometry method using the optical flow and the camera-IMU fusion. The error in the estimated distance caused by an instantaneous change in the vehicle's posture is reduced by compensating the ground surface according to the pitch angle acquired by the estimated vehicle’s posture. In real-road experiments with a real vehicle, the proposed method demonstrates its practical usability by reducing the average ranging error from 35% to 3%. © ICROS 2022.

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