Estimation and Prediction of the Vehicle’s Motion Based on Visual Odometry and Kalman Filter

  • Basam Musleh
  • David Martin
  • Arturo de la Escalera
  • Domingo Miguel Guinea
  • Maria Carmen Garcia-Alegre
Part of the Lecture Notes in Computer Science book series (LNCS, volume 7517)


The movement of the vehicle is an useful information for different applications, such as driver assistant systems or autonomous vehicles. This information can be known by different methods, for instance, by using a GPS or by means of the visual odometry. However, there are some situations where both methods do not work correctly. For example, there are areas in urban environments where the signal of the GPS is not available, as tunnels or streets with high buildings. On the other hand, the algorithms of computer vision are affected by outdoor environments, and the main source of difficulties is the variation in the ligthing conditions. A method to estimate and predict the movement of the vehicle based on visual odometry and Kalman filter is explained in this paper. The Kalman filter allows both filtering and prediction of vehicle motion, using the results from the visual odometry estimation.


Stereo vision Visual odometry Kalman filter 


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Copyright information

© Springer-Verlag Berlin Heidelberg 2012

Authors and Affiliations

  • Basam Musleh
    • 1
  • David Martin
    • 1
  • Arturo de la Escalera
    • 1
  • Domingo Miguel Guinea
    • 1
  • Maria Carmen Garcia-Alegre
    • 2
  1. 1.Intelligent Systems LabUniversity Carlos IIILeganesSpain
  2. 2.Center for Automation and Robotics (CAR)Spanish Council for Scientific Research (CSIC)Arganda del Rey.Spain

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