1P1-K07 A Study of Autonomous Mobile System in Outdoor Environment : Part48 A Study of Road Sign Localization Using a Single Camera and 3D Environmental Model

Abstract

This paper describes road sign localization using a single camera and 3D environmental model. The proposed Mobile Mapping System (MMS), featuring the carrier phase D-GPS/DR (Dead Reckoning) combined navigation system and the GPS-Gyro/IMU(Inertial Measurement Unit), performs highly accurate positioning performance in centimeters and posture estimation at 0.073[deg](1σ) for heading, 0.064[deg](1σ) for pitch and 0.116[deg](1σ) for roll. In road sign measurement environment, there are many kinds of objects near a road sign which cause serious misidentification. The proposed localization method utilizes different LOS images to identify collect road sign's corresponding laser data to improve localization accuracy.