Joint ego-motion and road geometry estimation
نویسندگان
چکیده
منابع مشابه
Joint ego-motion and road geometry estimation
We provide a sensor fusion framework for solving the problem of joint ego-motion and road geometry estimation. More specifically we employ a sensor fusion framework to make systematic use of the measurements from a forward looking radar and camera, steering wheel angle sensor, wheel speed sensors and inertial sensors to compute good estimates of the road geometry and the motion of the ego vehic...
متن کاملEgo-Motion and Indirect Road Geometry Estimation Using Night Vision, Report no. LiTH-ISY-R-2894
The sensors present in modern premium cars deliver a wealth of information. We will in this work illustrate one way of making better use of the sensor information already present in modern premium cars. More speci cally, we will show how a far infrared (FIR) camera can be used to enhance the estimates of the vehicle ego-motion and indirectly the road geometry in 3D. The FIR camera is primarily ...
متن کاملRobust ego-motion estimation
This paper aims to develop a simple algorithm for determining the direction of ego-motion of a monocular observer in a static environment. Rather than returning a single direction the algorithm returns a set of motion directions known to contain the true direct tion. Translational motion can be arbitrary. The algorithm is based on one invented by Horn and Weldon [1]. It uses only normal compone...
متن کاملJoint Estimation of Motion, Structure and Geometry from Stereo Sequences
We present a novel variational method for the simultaneous estimation of dense scene flow and structure from stereo sequences. In contrast to existing approaches that rely on a fully calibrated camera setup, we assume that only the intrinsic camera parameters are known. To couple the estimation of motion, structure and geometry, we propose a joint energy functional that integrates spatial and t...
متن کاملRobust Ego-Motion Estimation with ToF Cameras
This paper presents an approach to estimate the ego-motion of a robot while moving. The employed sensor is a Time-of-Flight (ToF) camera, the SR3000 from Mesa Imaging. ToF cameras provide depth and reflectance data of the scene at high frame rates. The proposed method utilizes the coherence of depth and reflectance data of ToF cameras by detecting image features on reflectance data and estimati...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Information Fusion
سال: 2011
ISSN: 1566-2535
DOI: 10.1016/j.inffus.2010.06.007