@InProceedings{AngelSappa2007,
author="Angel Sappa
and Fadi Dornaika
and David Geronimo
and Antonio Lopez",
title="Efficient On-Board Stereo Vision Pose Estimation",
booktitle="Computer Aided Systems Theory, Selected paper from",
year="2007",
volume="4739",
pages="1183--1190",
abstract="This paper presents an efficient technique for real time estimation of on-board stereo vision system pose. The whole process is performed in the Euclidean space and consists of two stages. Initially, a compact representation of the original 3D data points is computed. Then, a RANSAC based least squares approach is used for fitting a plane to the 3D road points. Fast RANSAC fitting is obtained by selecting points according to a probability distribution function that takes into account the density of points at a given depth. Finally, stereo camera positionand orientation---pose---is computed relative to the road plane. The proposed technique is intended to be used on driver assistance systems for applications such as obstacle or pedestrian detection. A real time performance is reached. Experimental results on several environments and comparisons with a previous work are presented.",
optnote="ADAS",
optnote="exported from refbase (http://refbase.cvc.uab.es/show.php?record=916), last updated on Wed, 22 Jan 2014 12:39:51 +0100",
opturl="http://www.cvc.uab.es/adas/publications/sappa_eurocast2007a.pdf",
file=":http://refbase.cvc.uab.es/files/SDG2007b.pdf:PDF"
}