Real time vehicle pose using on-board stereo vision system

Authors:
Angel D. Sappa;David Gerónimo;Fadi Dornaika;Antonio López
Affiliations:
Computer Vision Center, Bellaterra, Barcelona, Spain;Computer Vision Center, Bellaterra, Barcelona, Spain;Computer Vision Center, Bellaterra, Barcelona, Spain;Computer Vision Center, Bellaterra, Barcelona, Spain
Venue:
ICIAR'06 Proceedings of the Third international conference on Image Analysis and Recognition - Volume Part II
Year:
2006

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Abstract

This paper presents a robust technique for a real time estimation of both camera’s position and orientation—referred as pose. A commercial stereo vision system is used. Unlike previous approaches, it can be used either for urban or highway scenarios. The proposed technique consists of two stages. Initially, a compact 2D representation of the original 3D data points is computed. Then, a RANSAC based least squares approach is used for fitting a plane to the road. At the same time, relative camera’s position and orientation are computed. The proposed technique is intended to be used on a driving assistance scheme for applications such as obstacle or pedestrian detection. Experimental results on urban environments with different road geometries are presented.