@inproceedings{5103854874f8495697599bc22216567e,
title = "IMU-Assisted Calibration of Visual Observation for Vehicle Lateral Positioning",
abstract = "This paper develops a vehicle lateral positioning method, which combines visual measurement with inertial measurement unit (IMU) information. Firstly, we extract and fit the lane line with a lightweight lane detection algorithm. We then obtain the initial lateral distance between the vehicle and the adjacent lane line with a monocular camera. Next, we apply an IMU to correct the initial lateral distance by compensating for the camera relative pose. In this way, the negative effects of vehicle attitude changes on visual lateral positioning can be reduced. Therefore, this method can achieve better lateral positioning when the relative pose of the camera changes dramatically. Finally, experiments with real vehicles show the effectiveness of the proposed method.",
keywords = "IMU-Assisted Calibration, vehicle lateral positioning, visual ranging",
author = "Jiulong Gao and Shuxuan Sheng and Xuetong Ye and Tianran Lan and Chaoyang Jiang",
note = "Publisher Copyright: {\textcopyright} 2023 IEEE.; 18th IEEE Conference on Industrial Electronics and Applications, ICIEA 2023 ; Conference date: 18-08-2023 Through 22-08-2023",
year = "2023",
doi = "10.1109/ICIEA58696.2023.10241939",
language = "English",
series = "Proceedings of the 18th IEEE Conference on Industrial Electronics and Applications, ICIEA 2023",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "1585--1590",
editor = "Wenjian Cai and Guilin Yang and Jun Qiu and Tingting Gao and Lijun Jiang and Tianjiang Zheng and Xinli Wang",
booktitle = "Proceedings of the 18th IEEE Conference on Industrial Electronics and Applications, ICIEA 2023",
address = "United States",
}