The movement of the vehicle provides useful information for different applications, such as driver assistant systems or autonomous vehicles. This information can be known by means of a GPS, but there are some areas in urban environ ments where the signal is not available, as tunnels or streets with high buildings. A new method for 2D visual ego motion estimation in urban environments is presented in this paper. This method is based on a stereo-vision system where the feature road points are tracked frame to frame in order to estimate the movement of the vehicle, avoiding outliers from dynamic obstacles. The road profile is used to obtain the world coordinates of the feature points as a unique function of its left image coordinates. For these reasons it is only necessary to search feature points in the lower third of the left images. Moreover, the Kalman filter is used as a solution for filtering problem. That is, in some cases, it is necessary to filter raw data due to noise acquisition of time series. The results of the visual ego motion are compared with raw data from a GPS. ; This work was also supported by Spanish Government through the CICYT projects FEDORA (Grant TRA2010-20255-C03-01) and Driver Distraction Detector System (Grant TRA2011-29454-C03-02)


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Visual Ego Motion Estimation in Urban Environments based on U-V Disparity



    Erscheinungsdatum :

    2012-06-03


    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629



    Visual Ego Motion Estimation in Urban Environments Based on U-V Disparity

    Musleh Lancis, B. / Martin Gomez, D. / de la Escalera, A. et al. | British Library Conference Proceedings | 2012


    Visual ego motion estimation in urban environments based on U-V disparity

    Musleh, Basam / Martin, David / de la Escalera, Arturo et al. | IEEE | 2012


    Motion Estimation from Disparity Images

    Demirdjian, D. / Darrell, T. / IEEE | British Library Conference Proceedings | 2001


    Motion estimation from disparity images

    Demirdjian, D. / Darrell, T. | IEEE | 2001


    Simultaneous Motion-Disparity Estimation and Segmentation from Stereo

    Altunbasak, Y. / Tekalp, A. M. / Bozdagi, G. et al. | British Library Conference Proceedings | 1994