METHOD AND APPARATUS FOR VEHICLE ODOMETRY USING MONOCULAR CAMERA IMAGES AND ON-BOARD DIAGNOSTICS

摘要

A vehicle driving record measuring method using a monocular camera image and an OBD according to an embodiment of the present invention includes a data synthesis step of combining the continuous image and the OBD information of the monocular camera; A deep neural network learning step of learning the entire deep neural network through a data synthesis step; And measuring a vehicle''s driving record through a deep neural network learning step, wherein the data synthesis step takes a continuous image of the camera and creates a sub-feature through the image processing module, and imports the OBD information to obtain the width of the image. , Duplicate to fit height, and stacking and combining the sub-features of the image and the duplicated OBD information on the channel axis, and the deep neural network learning step, obtaining the own motion by passing the synthetic data through the middle and upper steps. , And learning the entire deep neural network using the synthesized data, and the driving record measurement step includes the self-motion estimation step of the learned deep neural network, and the step of measuring the vehicle driving record using the self-motion estimation. do.