魚眼カメラシステムによる走行車線に対する車両姿勢推定

カテゴリ: 論文誌(論文単位)

グループ名: 【C】電子・情報・システム部門

発行日: 2011/12/01

タイトル(英語): Estimating Vehicle Pose Relative to Current Lane from Fisheye Camera System

著者名: 李　仕剛（鳥取大学大学院工学研究科），大島　英樹（鳥取大学大学院工学研究科），中西　功（鳥取大学大学院工学研究科）

著者名(英語): Shigang Li (Graduate School of Engineering, Tottori University), Hideki Oshima (Graduate School of Engineering, Tottori University), Isao Nakanishi (Graduate School of Engineering, Tottori University)

キーワード: 車両姿勢，魚眼カメラ，運転支援　　vehicle pose，fisheye camera，driving assistance

要約(英語): A fisheye camera system is usually used for eliminating the blind spot around a vehicle. In this paper we propose a method of estimating vehicle pose relative to current lane from the side fisheye cameras of such a fisheye camera system. The side fisheye camera with hemispherical field of view can observe the side boundary of the vehicle and the lane markings simultaneously. An algorithm of estimating the distance and the relative orientation between the vehicle and the current lane is presented based on the side boundary of the vehicle and the nearest lane marking. The experimental results are also presented to show the effectiveness of the proposed method.

本誌: 電気学会論文誌C（電子・情報・システム部門誌） Vol.131 No.12 （2011） 特集：電気関係学会東海支部連合大会

本誌掲載ページ: 2189-2195 p

原稿種別: 論文／日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejeiss/131/12/131_12_2189/_article/-char/ja/