VISUAL ODOMETRY FOR LANE-CHANGE DETECTION IN VEHICLE LOCALIZATION
This project describes the visual odometry for lane-changing detection in-vehicle localization. The main objective of this research is to analyze and detect whether a vehicle changes lanes on the road based on the visual odometry trajectory in the KITTI dataset. Nowadays, the Global Positionin...
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| 第一著者: | |
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| フォーマット: | Final Year Project Report |
| 言語: | English |
| 出版事項: |
Universiti Malaysia Sarawak
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| 主題: | |
| オンライン･アクセス: | http://ir.unimas.my/id/eprint/39464/3/Nurliza%20Binti%20Mahli.pdf http://ir.unimas.my/id/eprint/39464/ |
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| 要約: | This project describes the visual odometry for lane-changing detection in-vehicle
localization. The main objective of this research is to analyze and detect whether a vehicle
changes lanes on the road based on the visual odometry trajectory in the KITTI dataset.
Nowadays, the Global Positioning System (GPS) applications are easy to use and most
used in vehicle localization. In the GPS application, there is no stating that drivers change
lanes on the roads. This affects the smooth transition and path planning for those using
the in-vehicle navigation system. Therefore, this research analyses and determines
whether vehicles have made lane changes based on the visual odometry even if a minor
change occurs. This analysis has several methods to detect lane change. The visual
odometry method used was the ORB SLAM, then from the visual odometry trajectory,
the method of curve fitting is used to analyze any change or discrepancy in the trajectory
path. The lane changes can be detected by using graph results. The evidence of the graph
result shows that the lane changes occurred. The results with different methods can detect
a small change in straight or curved road lanes. The main advantage of this study is that
it can detect the occurrence of lane changes on a straight road or a curve lane even if there
is only a small change. |
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