Vehicle Trajectory Estimation Method by Drive Recorder Images and Point Cloud of Surrounding Environment

Abstract

The on-the-spot inspections after accident are based on information obtained from the brake marks left on the road and the damage situation of the surroundings. However, this method is affected by the situation before the accident and cannot estimate quantitative guessing. Moreover, technologies such as automatic braking system and lane keeping system, have been developed actively. In developing these technologies, vehicle trajectory is one of the most important data. In this paper, we propose a novel method of estimating vehicle trajectory by using drive recorder images and point cloud which is measured by Mobile Mapping System and LiDAR. In the evaluation experiments, we confirmed the effectiveness of our method by comparing the vehicle poses estimated with RTK-GPS and showing the average errors are within one meter.