Computer Science ›› 2020, Vol. 47 ›› Issue (7): 97-102.doi: 10.11896/jsjkx.190900011

• Computer Graphics & Multimedia • Previous Articles     Next Articles

Vehicle Self-localization Based on Standard Road Sign

ZHANG Shan-bin1, YUAN Jin-zhao1, CHEN Hui1, WANG Yu-rong1, WANG Jie1, TU Chang-he2   

  1. 1 School of Information Science and Engineering,Shandong University,Qingdao,Shandong 266237,China
    2 School of Computer Science and Technology,Shandong University,Qingdao,Shandong 266237,China
  • Received:2019-08-31 Online:2020-07-15 Published:2020-07-16
  • About author:ZHANG Shan-bin,born in 1993,postgraduate.His main research interests include computer vision and image processing.
    CHEN Hui,born in 1963,Ph.D,professor.Her main research interests include computer vision,3D morphing and virtual reality.
  • Supported by:
    This work was supported by the Natural Science Foundation of Shandong Province,China(ZR2017MF057),Key R&D Project of Shandong Pro-vince,China(2019GGX101018) and Subtopics of National Key Fund (61332015)

Abstract: Vehicle self-localization is one of the key technologies of automatic driving and advanced assistant driving.Fast and accurate vehicle self-localization can provide vehicle location information for navigation or intelligent driving system in time.Aiming at the problem of vehicle positioning in complex environment in the field of automatic driving and advanced assistant driving system,a vehicle self-localization method based on standard road signs is proposed.A simple database containing standard road signs is designed,in which information such as fonts,sizes and control point coordinates of the road signs are pre-stored.The video stream images containing the standard road signs are captured by a vehicle-mounted monocular camera.Centroid coordinates of the identification area are extracted as control points,and the planar projection transformation matrix between each frame of the video stream image and the database reference image is calculated.Motion constrains and matrix decomposition are used to obtain the stable position of the on-board camera.Experimental tests are performed in the real road environment.The results show that the positioning accuracy of proposed method within 30 meters can reach 0.1 meters,and 0.05 meters within 20 meters.This method is low-cost,simple and reliable,and can use on-board monocular camera and standard road signs to realize precise self-localization of vehicles in complex traffic sections.

Key words: Standard road sign, Road sign database, Monocular camera, Projection transformation, Constrained motion

CLC Number: 

  • TP391.41
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