@article{ref1,
title="Off-line vehicle localization through a P3P solution by omnidirectional spherical image",
journal="Transactions of Society of Automotive Engineers of Japan",
year="2011",
author="Banno, Atsuhiko and Ikeuchi, Katsushi",
volume="42",
number="1",
pages="107-111",
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.<p /> <p>Language: ja</p>",
language="ja",
issn="0287-8321",
doi="10.11351/jsaeronbun.42.107",
url="http://dx.doi.org/10.11351/jsaeronbun.42.107"
}