Vehicle trajectory estimation method by drive recorder images and point cloud of surrounding environment

Akiyoshi Kurobe, Hisashi Kinoshita, Hideo Saito

Research output: Contribution to journalArticle

Abstract

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.

Original languageEnglish
Pages (from-to)274-281
Number of pages8
JournalSeimitsu Kogaku Kaishi/Journal of the Japan Society for Precision Engineering
Volume85
Issue number3
DOIs
Publication statusPublished - 2019 Jan 1

Keywords

  • Camera pose estimation
  • Drive recorder
  • LiDAR
  • MMS
  • Point cloud
  • SLAM

ASJC Scopus subject areas

  • Mechanical Engineering

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