| 摘要 |
The present invention provides a method of detecting the approximate position of a traffic sign using the type and the photo points of the traffic sign which are automatically recognized through image processing and detecting the accurate position of the traffic sign using a reflectivity-dedicated laser point cloud. The method includes: a step of automatically extracting and storing position data of a traffic sign using reflectivity data from a laser sensor in regard to automatic position insertion of street furniture data; a step of converting the relative position of the street furniture from the sensor using GPS, IMU, and laser data into absolute coordinates in a Cartesian coordinate system; a step of recording images at regular time intervals using GPS, IMU, DMI, a camera, and the laser sensor in regard to acquisition of images of the street furniture using the GPS, IMU, DMI, camera, and laser sensor and inserting the positions using track data of a vehicle; a step of automatically synchronizing and recording images at the time of taking images and coordinates at the time of taking images; a step of measuring the position and posture of each sensor attached to the vehicle using a total station; and a step of detecting the position of the recognized traffic sign on a road by converting the position of the traffic sign through three-dimensional rotation conversion using the longitude and latitude and the height coordinate in GPS and role, pitch, and heading in IMU using the position and posture of each sensor attached to the vehicle into the absolute position. |
