Cameras are among the most used sensors in Advanced Driver Assistance Systems (ADAS) and autonomous vehicles for their low cost and rich stream of information. Nevertheless, they require accurate extrinsic calibration to refer external features, e.g., obstacles and road line markings, to the vehicle reference frame. In this paper, we present a real-time online calibration procedure designed to adjust the camera’s pitch and height estimates by enforcing road line markings parallelism. Differently from most of the approaches in the literature, our is not limited to straight line markings as, under the assumption of local width constancy, parallelism is enforced also in case of high curvature line markings. Furthermore, to take into account the vehicle dynamics, e.g., accelerations and braking, our estimation procedure is framed in the context of an inverted pendulum dynamical system for which a robust filter is proposed. Finally, we experimentally assess the performance of the overall approach both in simulated and real scenarios.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Advances in Real-Time Online Vehicle Camera Calibration via Road Line Markings Parallelism Enforcement*


    Beteiligte:


    Erscheinungsdatum :

    2022-06-05


    Format / Umfang :

    493474 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Camera calibration from road lane markings

    Fung, G.S.K. / Yung, N.H.C. / Pang, G.K.H. | Tema Archiv | 2003


    Vehicle localization using road markings

    Wu, Tao / Ranganathan, Ananth | IEEE | 2013


    VEHICLE LOCALIZATION USING ROAD MARKINGS

    Wu, T. / Ranganathan, A. / Institute of Electrical and Electronics Engineers | British Library Conference Proceedings | 2013


    Self-driving system for smart road markings and smart road markings

    LEE SUK KI / KIM YONG SEOK / PARK WON IL et al. | Europäisches Patentamt | 2022

    Freier Zugriff

    High performance road markings

    Phillips, K. | British Library Online Contents | 1994