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.
This work was partially supported by the Government of Spain under the CICYT project TRA2004-06702/AUT. The first and third authors were supported by The Ramón y Cajal Program. The second author was supported by Spanish Ministry of Education and Science grant BES-2005-8864.
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Sappa, A.D., Gerónimo, D., Dornaika, F., López, A. (2006). Real Time Vehicle Pose Using On-Board Stereo Vision System. In: Campilho, A., Kamel, M. (eds) Image Analysis and Recognition. ICIAR 2006. Lecture Notes in Computer Science, vol 4142. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11867661_19
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DOI: https://doi.org/10.1007/11867661_19
Publisher Name: Springer, Berlin, Heidelberg
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