Efficient on-board stereo vision pose estimation

Authors:
Angel D. Sappa;Fadi Dornaika;David Gerónimo;Antonio López
Affiliations:
Computer Vision Center, UAB, Bellaterra, Barcelona, Spain;Institut Géographique National, Saint Mandé, France;Computer Vision Center, UAB, Bellaterra, Barcelona, Spain;Computer Vision Center, UAB, Bellaterra, Barcelona, Spain
Venue:
EUROCAST'07 Proceedings of the 11th international conference on Computer aided systems theory
Year:
2007

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Abstract

This paper presents an efficient technique for real time estimation of on-board stereo vision system pose. The whole process is performed in the Euclidean space and consists of two stages. Initially, a compact representation of the original 3D data points is computed. Then, a RANSAC based least squares approach is used for fitting a plane to the 3D road points. Fast RANSAC fitting is obtained by selecting points according to a probability distribution function that takes into account the density of points at a given depth. Finally, stereo camera position and orientation--pose--is computed relative to the road plane. The proposed technique is intended to be used on driver assistance systems for applications such as obstacle or pedestrian detection. A real time performance is reached. Experimental results on several environments and comparisons with a previous work are presented.