High Accuracy Vision-Based Positioning Method at an Intersection

  • Manh, Cuong Nguyen (Department of IT Convergence, Korea National University of Transportation) ;
  • Lee, Jaesung (Department of IT Convergence, Korea National University of Transportation)
  • Received : 2017.11.05
  • Accepted : 2018.01.02
  • Published : 2018.06.30


This paper illustrates a vision-based vehicle positioning method at an intersection to support the C-ITS. It removes the minor shadow that causes the merging problem by simply eliminating the fractional parts of a quotient image. In order to separate the occlusion, it firstly performs the distance transform to analyze the contents of the single foreground object to find seeds, each of which represents one vehicle. Then, it applies the watershed to find the natural border of two cars. In addition, a general vehicle model and the corresponding space estimation method are proposed. For performance evaluation, the corresponding ground truth data are read and compared with the vision-based detected data. In addition, two criteria, IOU and DEER, are defined to measure the accuracy of the extracted data. The evaluation result shows that the average value of IOU is 0.65 with the hit ratio of 97%. It also shows that the average value of DEER is 0.0467, which means the positioning error is 32.7 centimeters.


Supported by : Institute for Information & Communications Technology Promotion (IITP)


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