Citation

Banno A, Ikeuchi K. Trans. Soc. Automot. Eng. Jpn. 2011; 42(1): 107-111.

Copyright

(Copyright © 2011, Society of Automotive Engineers of Japan)

DOI

10.11351/jsaeronbun.42.107

PMID

unavailable

Abstract

We propose a strategy to estimate the self position and pose of a vehicle by using spherical images. Our method is based on the Perspective-Three-Point (P3P) problem from three pairs of 2D-3D correspondences. Our method introduces a quadratic form of a vector with a 3-rank tensor, which can be solved easily and quickly by using a Newton-Raphson method. A utilization of a spherical image in place of a conventional image overcomes the lack of accuracy for the localization. We present some experimental results that show the practicality and high precision of our method by using real data sets.

Language: ja

Keywords

Electronics and Control; Localization; Image Processing; Perspective-3-Point; Spherical image