A Novel Method for Lateral Vehicle Localization by Omni-Cameras for Car Driving Assistance

Authors:
Chih-Jen Wu;Wen-Hsiang Tsai
Affiliations:
Institute of Computer Science and Engineering, National Chiao Tung University, Taiwan;Institute of Computer Science and Engineering, National Chiao Tung University, Taiwan and Department of Information Communication, Asia University, Taiwan
Venue:
KES '09 Proceedings of the 13th International Conference on Knowledge-Based and Intelligent Information and Engineering Systems: Part II
Year:
2009

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Abstract

A lateral vehicle localization method by omni-image analysis is proposed for car driving assistance. The method estimates analytically the position and orientation of a lateral vehicle by utilizing the geometric properties of a circular-shaped wheel image of the lateral car taken by a single omni-camera with a hyperboloidal-shaped mirror. Analytical solutions are made possible for fast computation by a special arrangement of affixing the omni-camera on the frontal car bumper at the height of the wheel. Experimental results showing good data estimation precision are included to prove the feasibility of the proposed method.