칼만필터 기반의 도로표지판 특징점 매칭을 이용한 자차의 횡 방향 위치인식

초록

This paper proposes a method of localization of vehicle especially the horizontal position for the purpose of recognizing the driving lane. With tracking of road signs, the relative position between the vehicle and the sign is calculated and the absolute position is obtained using the known information from the regulation for installation. The proposed method uses Kalman filter for road sign tracking and analyzes the motion using the pinhole camera model. To classify the road sign, ORB features from the input image and DB are matched. From the absolute position of the vehicle, the driving lane is recognized. The Experiments are performed on videos from the highway driving and the results shows that the proposed method is able to compensate the common GPS localization.