2009 IEEE Intelligent Vehicles Symposium 2009
DOI: 10.1109/ivs.2009.5164275
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Ego-localization using streetscape image sequences from in-vehicle cameras

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Cited by 18 publications
(21 citation statements)
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“…The ego-localization problem is one shared by automotive applications [5], [6], [8], and robotics [1], [10] where it is more often posed as the Simultaneous Localization and Mapping (SLAM) problem [11]. SLAM has been a very active research area in the robotics community where unknown environments must be mapped as the robot is localized within the dynamically updated map.…”
Section: Related Workmentioning
confidence: 99%
See 2 more Smart Citations
“…The ego-localization problem is one shared by automotive applications [5], [6], [8], and robotics [1], [10] where it is more often posed as the Simultaneous Localization and Mapping (SLAM) problem [11]. SLAM has been a very active research area in the robotics community where unknown environments must be mapped as the robot is localized within the dynamically updated map.…”
Section: Related Workmentioning
confidence: 99%
“…They also usually employ supporting sensors to achieve localization-either an IMU [5] or odometry information [14]. A simpler approach is to localize against the closest database image, of known location, using DTW (or Dynamic Programming) to remove temporal differences between input and database image streams [6], [15]. The matching between sample images and those in the database can be performed by using a kind of template matching [15], or by using a low bit-rate image sequence instead of single images [16], which is stable in varying environments but does not provide high localization accuracy.…”
Section: Related Workmentioning
confidence: 99%
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“…High-precision localization using cameras can re-duce the system cost significantly, but this usually needs high-precision digital maps [9][10][11] or preconstructed image databases for matching [12][13] . Uchiyama et al [12] achieved the ego-localization using a matching database and a binocular camera, where the synchronization and the stereo matching of binocular vision are too difficult to guarantee the positioning accuracy.…”
Section: Introductionmentioning
confidence: 99%
“…Uchiyama et al [12] achieved the ego-localization using a matching database and a binocular camera, where the synchronization and the stereo matching of binocular vision are too difficult to guarantee the positioning accuracy. Wong et al [13] used an on-board monocular camera and an image sequence database to determine the actual location of the vehicle on road.…”
Section: Introductionmentioning
confidence: 99%