The vehicle speed is calculated from the rotation of the wheels, so errors occur due to tire wear and other factors. Methods using GPS and map information also have the problem of being easily affected by the environment and changes over time. Therefore, we focused on the patterns on the road patterns and developed a position estimation method by matching feature points on road surface images, and applied it to measuring the vehicle speed.
The speed estimation procedure is as follows : ① Deriving pairs of feature points on images with the same features. ② Findng geometry parameters by feature points, . ④ Calculating distance by majority pairs. An example of
speed calculation is shown in the
right figure. The relative error
with GPS is -5%.