A Vehicle trajectory Estimation for a Driving Behavior Analysis Based on a Registration of 3D Point Cloud

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  • 運転行動解析のための点群位置合わせに基づく走行軌跡の復元に関する研究

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Advanced driving assistance systems (ADAS) for various driving scenarios are developed. To develop and to evaluate the ADAS, a large quantity and high quality database of actual driving data is needed. In this paper, we propose a driving trajectory estimation method based on a 3D point cloud. The registration methods of the point cloud (e.g. ICP) has advantages in the accuracy of the estimation of the local (short range) motion. However, since the registration methods estimate the relative motions of frame by frame, estimation errors are accumulated and it is difficult to apply the method for long distance analysis. To solve this problem, a global trajectory correction method based on GNSS information. The evaluations of the proposed system are performed by using the actual driving data in an urban road.

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