車載単眼カメラを用いた自車両の運動推定

摘要

This paper proposes a method for estimating the ego-motion of the vehicle by using a vehicle mounted monocular camera. Our proposed method is based on Structure from Motion (SFM). There are two problems with applying a SFM algorithm in a real road environment. Firstly, a typical road scene contains moving objects, such as other vehicles. Secondly, roads display fewer feature points, compared to the number associated with background structures. These problems cause false estimations or reduce the accuracy of the estimated motion. Our proposed method detects moving objects in every frame and selects feature points used for motion estimation from all extracted feature points in the image, so that those feature points are dispersedly distributed in various regions except those containing moving objects. The ego-motion of the vehicle can be accurately estimated from correspondences of these selected feature points. In our experiments, it has been shown that the proposed method is able to estimate the ego-motion in real road scenes.%本論文では，車載単眼カメラで撮影した時系列画像から自rn車両の運動を推定する手法を提案した。提案手法は，SFMrnアルゴリズムに基づく方法であり，道路環境での課題に対rn応するため，移動物体を検出し，特徴点の分布を考慮してrn運動の推定に利用する特徴点の選択を行う。また，復元しrnた3次元構造から道路平面を推定することにより，画像情rn報のみから平行移動のスケールを求めることができる。