TY  - JOUR
PY  - 2011//
TI  - Off-line vehicle localization through a P3P solution by omnidirectional spherical image
JO  - Transactions of Society of Automotive Engineers of Japan
A1  - Banno, Atsuhiko
A1  - Ikeuchi, Katsushi
SP  - 107
EP  - 111
VL  - 42
IS  - 1
N2  - 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>
LA  - ja
SN  - 0287-8321
UR  - http://dx.doi.org/10.11351/jsaeronbun.42.107
ID  - ref1
ER  -