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Real Time Vehicle Pose Using On-Board Stereo Vision System

  • Angel D. Sappa
  • David Gerónimo
  • Fadi Dornaika
  • Antonio López
Part of the Lecture Notes in Computer Science book series (LNCS, volume 4142)

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.

Keywords

Pitch Angle Pedestrian Detection Stereo Vision System Lane Marking Road Geometry 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2006

Authors and Affiliations

  • Angel D. Sappa
    • 1
  • David Gerónimo
    • 1
  • Fadi Dornaika
    • 1
  • Antonio López
    • 1
  1. 1.Computer Vision CenterBellaterra, BarcelonaSpain

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