단안 카메라 기반 측위를 위한 터널 내 시설물의 거리 측정

Abstract

The GNSS signal used for vehicle localization exhibits a shaded area such as a tunnel. To accurately estimate the location in the shaded area, the accumulated position error must be compensated with information obtained from a separate sensor. When a monocular camera is selected as an additional sensor, the process of measuring the relative distance after detecting objects in a tunnel should be performed before using these data as an indicator. This paper presents a modified inverse perspective transformation model that projects image pixels to the plane parallel to the ground. The image pixels are projected to the plane accounting for the distance and the height of the facility in the tunnel. Then, through the transformation model, the distance of the facility in the tunnel can be measured using a single camera sensor. The Samsungsan Tunnel located on National Highway 110 in South Korea was chosen for the experiment. The estimated distance results by the proposed method were compared with the LiDAR measurements obtained real-time time by computing the position errors for the longitudinal and lateral directions, separately. This study demonstrates the possibility of estimating a distance with only a monocular camera for precise positioning even in a tunnel.