TY - JOUR
T1 - Vehicle trajectory estimation method by drive recorder images and point cloud of surrounding environment
AU - Kurobe, Akiyoshi
AU - Kinoshita, Hisashi
AU - Saito, Hideo
PY - 2019/1/1
Y1 - 2019/1/1
N2 - The on-the-spot inspections after accident are based on information obtained from the brake marks left on the road and the damage situation of the surroundings. However, this method is affected by the situation before the accident and cannot estimate quantitative guessing. Moreover, technologies such as automatic braking system and lane keeping system, have been developed actively. In developing these technologies, vehicle trajectory is one of the most important data. In this paper, we propose a novel method of estimating vehicle trajectory by using drive recorder images and point cloud which is measured by Mobile Mapping System and LiDAR. In the evaluation experiments, we confirmed the effectiveness of our method by comparing the vehicle poses estimated with RTK-GPS and showing the average errors are within one meter.
AB - The on-the-spot inspections after accident are based on information obtained from the brake marks left on the road and the damage situation of the surroundings. However, this method is affected by the situation before the accident and cannot estimate quantitative guessing. Moreover, technologies such as automatic braking system and lane keeping system, have been developed actively. In developing these technologies, vehicle trajectory is one of the most important data. In this paper, we propose a novel method of estimating vehicle trajectory by using drive recorder images and point cloud which is measured by Mobile Mapping System and LiDAR. In the evaluation experiments, we confirmed the effectiveness of our method by comparing the vehicle poses estimated with RTK-GPS and showing the average errors are within one meter.
KW - Camera pose estimation
KW - Drive recorder
KW - LiDAR
KW - MMS
KW - Point cloud
KW - SLAM
UR - http://www.scopus.com/inward/record.url?scp=85064566724&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85064566724&partnerID=8YFLogxK
U2 - 10.2493/jjspe.85.274
DO - 10.2493/jjspe.85.274
M3 - Article
AN - SCOPUS:85064566724
SN - 0912-0289
VL - 85
SP - 274
EP - 281
JO - Seimitsu Kogaku Kaishi/Journal of the Japan Society for Precision Engineering
JF - Seimitsu Kogaku Kaishi/Journal of the Japan Society for Precision Engineering
IS - 3
ER -