The invention relates to a vehicle position and gesture
estimation method based on a
traffic sign. The method comprises the following steps that: firstly, through conventional GPS (
Global Positioning System) equipment, obtaining the sketchy position of a vehicle, and obtaining an image in front of the vehicle through a
monocular camera installed in front of the vehicle; then, detecting the
traffic sign in one frame of image, and
processing a next frame of image if no traffic signs are detected; after the
traffic sign is obtained by detection, extracting four
control point coordinates of the traffic sign, obtaining four pre-stored orthogonal
control point coordinates of the traffic sign pre-stored in a
database through GPS sketchy information, calculating a plane
perspective transformation matrix from a traffic sign position to a
database orthogonal position in an input image, and carrying out resolving by the matrix to obtain the accurate position and gesture of the vehicle under a traffic sign coordinate
system, wherein the four control points correspond one by one. When the vehicle is driven on a road provided with the traffic sign, the position and the gesture of the vehicle under the traffic sign coordinate
system can be quickly positioned, and the method has the advantages of being high in instantaneity, low in cost and easy in large-scale promotion.