Real-time Vehicle Pose Estimation Utilizing Monocular Vision and Lane Marker Maps

Download or read book Real-time Vehicle Pose Estimation Utilizing Monocular Vision and Lane Marker Maps written by Robert Leary and published by . This book was released on 2018 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: The primary focus of this work is to develop a vehicle pose estimation algorithm using a-priori knowledge of the environment. Specifically, this work focuses on the problem of achieving accurate localization of a vehicle within a map and on the road, using a map as a feedforward sensor to help estimate the location of the vehicle. Presented here is a method for improving localization over standard GPS and inertial-based methods via a map-based, monocular vision, pose estimation algorithm. The presented algorithm creates a tractable method for determining the observability of three-dimensional road features for localizing a vehicle, as well as the bounded region wherein the pose estimator can converge to the true vehicle pose. This thesis presents simulation and experimental results to determine this bounded region, or region of attraction, under common road scenes using a map of the lane marker features.