Pose Self-Calibration of Stereo Vision Systems for Autonomous Vehicle Applications
Nowadays, intelligent systems applied to vehicles have grown very rapidly; their goal is not only the improvement of safety, but also making autonomous driving possible. Many of these intelligent systems are based on making use of computer vision in order to know the environment and act accordingly. It is of great importance to be able to estimate the pose of the vision system because the measurement matching between the perception system (pixels) and the vehicle environment (meters) depends on the relative position between the perception system and the environment. A new method of camera pose estimation for stereo systems is presented in this paper, whose main contribution regarding the state of the art on the subject is the estimation of the pitch angle without being affected by the roll angle. The validation of the self-calibration method is accomplished by comparing it with relevant methods of camera pose estimation, where a synthetic sequence is used in order to measure the continuous error with a ground truth. This validation is enriched by the experimental results of the method in real traffic environments.
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Availability:
- Find a library where document is available. Order URL: http://worldcat.org/issn/14248220
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Supplemental Notes:
- © 2016 Basam Musleh et al.
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Authors:
- Musleh, Basam
- Martín, David
- Armingol, José María
- de la Escalera, Arturo
- Publication Date: 2016-9
Language
- English
Media Info
- Media Type: Digital/other
- Features: Figures; References; Tables;
- Pagination: p 1492
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Serial:
- Sensors
- Volume: 16
- Issue Number: 9
- Publisher: MDPI AG
- ISSN: 1424-8220
- Serial URL: http://www.mdpi.com/journal/sensors
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Publication flags:
Open Access (libre)
Subject/Index Terms
- TRT Terms: Calibration; Field of vision; Mathematical models; Pitch (Dynamics); Positioning; Rolling; Stereoscopic cameras
- Subject Areas: Data and Information Technology; Highways;
Filing Info
- Accession Number: 01614061
- Record Type: Publication
- Files: TRIS
- Created Date: Oct 25 2016 9:50AM