RT Conference Proceedings
T1 Visual Ego Motion Estimation in Urban Environments based on U-V Disparity
A1 Musleh Lancis, Basam
A1 Martín Gómez, David
A1 Escalera Hueso, Arturo de la
A1 Armingol Moreno, José María
AB The movement of the vehicle provides useful information for different applications, such as driver assistant systems or autonomous vehicles. This information can be known by means of a GPS, but there are some areas in urban environ ments where the signal is not available, as tunnels or streets with high buildings. A new method for 2D visual ego motion estimation in urban environments is presented in this paper. This method is based on a stereo-vision system where the feature road points are tracked frame to frame in order to estimate the movement of the vehicle, avoiding outliers from dynamic obstacles. The road profile is used to obtain the world coordinates of the feature points as a unique function of its left image coordinates. For these reasons it is only necessary to search feature points in the lower third of the left images. Moreover, the Kalman filter is used as a solution for filtering problem. That is, in some cases, it is necessary to filter raw data due to noise acquisition of time series. The results of the visual ego motion are compared with raw data from a GPS.
PB IEEE The Institute Of Electrical And Electronics Engineers, Inc
YR 2012
FD 2012-06-03
LK https://hdl.handle.net/10016/23607
UL https://hdl.handle.net/10016/23607
LA eng
NO This work was also supported by Spanish Government through theCICYT projects FEDORA (Grant TRA2010-20255-C03-01) and DriverDistraction Detector System (Grant TRA2011-29454-C03-02)
DS e-Archivo
RD 18 jul. 2024