A yaw and tilt invariant vehicluar ego-position model
نویسندگان
چکیده
An analytical relationship is derived between the angles of two parallel road markings, projected onto an image plane, and the lateral position of the host vehicle. The resulting model proves that the relative position of a vehicle can be determined by the two lane angles alone, independent of camera height, yaw, and tilt. Furthermore, we find an optimally stable set of values for the measurements of height, yaw, and tilt with respect to the relative lateral position metric. Based on the Hough transform, a lane detection method is constructed to quantitatively validate the model.
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