@article{ref1,
title="Drift compensation of mono-visual odometry and vehicle localization using public road sign database",
journal="International journal of automotive technology",
year="2019",
author="Jang, Chanhee and Kim, Young-Keun",
volume="20",
number="6",
pages="1245-1254",
abstract="This paper proposes a novel localization method based on a camera that can estimate the absolute position of a vehicle using a public online database of road signs. The estimated absolute position near a road sign is used to compensate the drift error of visual odometry (VO). In the first phase, the relative position between a road sign and a vehicle is estimated by matching a detected road sign image with the reference image from a public online database. Subsequently, the absolute position of the vehicle is calculated using the data from the database. Once the absolute position of the vehicle is estimated near a road sign, the current position of VO is updated to compensate the accumulated error. From a 24-km driving road test, it is validated that the proposed algorithm can estimate the absolute position of a vehicle within an error of 1.5 m. Moreover, a test of trajectory 3 km showed that it can maintain the drift error of VO within tens of meters. Our method is easy to be deployed, has low computation cost, and is accessible to a wide range of driving environments such as highways.<p /> <p>Language: en</p>",
language="en",
issn="1229-9138",
doi="10.1007/s12239-019-0116-6",
url="http://dx.doi.org/10.1007/s12239-019-0116-6"
}