Lane-level vehicle positioning is an important task for enhancing the accuracy of in-vehicle navigation systems and the safety of autonomous vehicles. GPS (Global Positioning System) and DGPS (Differential GPS) are generally used in navigation service systems, which however only provide an accuracy level up to 2~3 m. In this paper, we propose a 3D vision based lane-level positioning technique which can provides accurate vehicle position. The proposed method determines the current driving lane of a vehicle by tracking the 3D position of traffic signs which stand at the side of the road. Using a stereo camera, the 3D tracking paths of traffic signs are computed and their projections to the 2D road plane are used to determine the distance from the vehicle to the signs. Several experiments are performed to analyze the feasibility of the proposed method in many real roads. According to the experimental results, the proposed method can achieve 90.9% accuracy in lane-level positioning.

1. 서 론
 2. 관련 연구
 3. 표지판의 3차원 경로 기반 주행 차로 추정
  3.1 표지판 검출
  3.2 표지판 추적 및 ID 할당
  3.3 표지판의 3차원 좌표 획득
  3.4 주행 차로의 추정
 4. 실험 결과 및 정확도 분석
 5. 결 론
 References

• 박순용(School of Computer Science and Engineering, Kyungpook National University) | Soon-Yong Park Corresponding Author
• 김성주(Nomad Connection, 10 Gukjegeumyung-ro, Yeongdeungpo-gu, Seoul, Korea) | Sung-ju Kim