Solution Of Camera Registration Problem Via 3d-2d Parameterized Model Matching For On-Road Navigation

This paper presents a dynamical solution of camera registration problem for on-road navigation applications via a 3D-2D parameterized model matching algorithm. The traditional camera’fs three dimensional (3D) position and pose estimation algorithms have always employed fixed and known-structure models as well as the depth information to obtain the 3D-2D correlations, which is however unavailable for on-road navigation applications since there are no fixed models in the general road scene. With the constraints of road structure and on-road navigation features, this paper presents a 2D digital road-based road shape modeling algorithm. Dynamically generated multilane road shape models are used to match real road scenes to estimate the camera 3D position and pose data. Our algorithms have successfully simplified the 3D-2D correlation problem to the 2D-2D road model matching on the projective image. The algorithms proposed in this paper are validated with the experimental results of real road tests under different conditions and types of road.