一時停止標識を利用した都市自動運転のための自動キャリブレーション手法
Auto-calibration Method Using Stop Signs for Urban Autonomous Driving Applications
停止標識を検出してその既知の形状からカメラのキャリブレーションを再調整し、逐次更新で精度を向上させる手法を提案した論文。
著者: Yunhai Han, Yuhan Liu, David Paz, Henrik Christensen
分類: cs.CV, cs.RO
原文アブストラクト
Calibration of sensors is fundamental to robust performance for intelligent vehicles. In natural environments, disturbances can easily challenge calibration. One possibility is to use natural objects of known shape to recalibrate sensors. An approach based on recognition of traffic signs, such as stop signs, and use of them for recalibration of cameras is presented. The approach is based on detection, geometry estimation, calibration, and recursive updating. Results from natural environments are presented that clearly show convergence and improved performance.
