Citation

Cho H, Nishiuchi H, Satoh H, Nishioka S, Sakai H, Matsuo H. Trans. Soc. Automot. Eng. Jpn. 2020; 51(3): 491-496.

Copyright

(Copyright © 2020, Society of Automotive Engineers of Japan)

DOI

10.11351/jsaeronbun.51.491

PMID

unavailable

Abstract

In this work, we propose a method for precise ego-motion measurement by camera (a.k.a. Visual Odometry : VO) even in high vehicle speed. The results of conventional VO methods suffer when using data points far away from the vehicle tracked by conventional camera, which have lower accuracy, but tracking objects and road surface close to the vehicle during high ego-speed is also difficult. We propose a precise method for ego-motion measurement using optical flow from a high-speed camera outputting 300 frames per second. The implemented method was evaluated on public roads.

Language: ja

Keywords

Electronics and control; Control system/autonomous land system/autonomous driving system; High-speed camera; image processing; Visual Odometry