Throughout the last decade, a large number of electronic driver-assistance systems has been developed in order to improve vehicles' comfort and safety. Up to now, they more or less all rely on odometric data. However in the future, a new form of information is likely to be used: visual sensors, e.g. cameras, can provide additional knowledge on traffic and the vicinity. In this paper an inertially stabilized camera platform for the use with driver assistance systems is presented. A specially designed inertial measurement unit detects the vehicle's rotation and actively stabilizes a pivotable camera with telephoto lens. In order to cope with unknown sensor sensitivities and non-orthogonalities in the sensor mounting, an adaptive biomimetic control algorithm was implemented. The system was evaluated in test drives on motorways at vehicle velocities of up to 130-140 km/h. Camera stabilization removed nearly all detectable correlation of vehicle rotation and image motion thus meaning that the camera was close to perfectly stabilized.
Biomimetic control for adaptive camera stabilization in driver-assistance systems
2006
6 Seiten, 4 Bilder, 4 Quellen
Conference paper
Storage medium
English
Camera-based driver assistance systems
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