Transportation Technologies for Sustainability

2013 Edition
| Editors: Mehrdad Ehsani, Fei-Yue Wang, Gary L. Brosch

3D Pose Estimation of Vehicles Using Stereo Camera

Reference work entry
First Online:
DOI: https://doi.org/10.1007/978-1-4614-5844-9_484
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Definition of the Subject

For advanced driver assistance systems, the 3D poses and motion states of oncoming and intersecting vehicles represent important information. This work describes methods for 3D vehicle pose estimation based on a motion-attributed 3D point cloud generated. First, stereo and optical flow information is computed for the investigated scene. A four-dimensional clustering approach separates the static from the moving objects in the scene. The iterative closest point algorithm (ICP) estimates the vehicle pose using a cuboid as a weak vehicle model. Classical ICP optimization is based on the Euclidean distance metric. Its computational efficiency can be significantly increased by applying a quaternion-based optimization scheme. In vehicle-based small-baseline stereo systems, it is favorable to use a polar distance metric which especially takes into account the error distribution of the stereo measurement process. To derive the pose parameters and simultaneously...

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Copyright information

© Springer Science+Business Media New York 2013

Authors and Affiliations

  1. 1.EvoBus GmbHNeu-UlmGermany
  2. 2.Image Analysis GroupDortmund University of TechnologyDortmundGermany