Ego-motion computing for vehicle velocity estimation

Authors:
M. A. Sotelo;R. Flores;R. García;M. Ocaña;M. A. García;I. Parra;D. Fernández;M. Gavilán;J. E. Naranjo
Affiliations:
Department of Electronics, University of Alcalá, Alcalá de Henares, Madrid, Spain;Department of Electronics, University of Alcalá, Alcalá de Henares, Madrid, Spain;Department of Electronics, University of Alcalá, Alcalá de Henares, Madrid, Spain;Department of Electronics, University of Alcalá, Alcalá de Henares, Madrid, Spain;Department of Electronics, University of Alcalá, Alcalá de Henares, Madrid, Spain;Department of Electronics, University of Alcalá, Alcalá de Henares, Madrid, Spain;Department of Electronics, University of Alcalá, Alcalá de Henares, Madrid, Spain;Department of Electronics, University of Alcalá, Alcalá de Henares, Madrid, Spain;Industrial Automation Institute, CSIC, Arganda del Rey, Madrid, Spain
Venue:
EUROCAST'07 Proceedings of the 11th international conference on Computer aided systems theory
Year:
2007

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Abstract

In this paper, we present a method for computing velocity using a single camera onboard a road vehicle, i.e. an automobile. The use of computer vision provides a reliable method to measure vehicle velocity based on egomotion computation. By doing so, cumulative errors inherent to odometry-based systems can be reduced to some extent. Road lane markings are the basic features used by the algorithm. They are detected in the image plane and grouped in couples in order to provide geometrically constrained vectors that make viable the computation of vehicle motion in a sequence of images. The applications of this method can be mainly found in the domains of Robotics and Intelligent Vehicles.