TY  - CONF
AU  - Angel Sappa
AU  - David Geronimo
AU  - Fadi Dornaika
AU  - Antonio Lopez
PY  - 2006//
TI  - Real Time Vehicle Pose Using On-Board Stereo Vision System
T2  - ICIAR
BT  - International Conference on Image Analysis and Recognition
SP  - 205–216
IS  - LNCS 4142
N2  - This paper presents a robust technique for a real time estimation of both camera’s position and orientation—referred as pose. A commercial stereo vision system is used. Unlike previous approaches, it can be used either for urban or highway scenarios. The proposed technique consists of two stages. Initially, a compact 2D representation of the original 3D data points is computed. Then, a RANSAC based least squares approach is used for fitting a plane to the road. At the same time,relative camera’s position and orientation are computed. The proposed technique is intended to be used on a driving assistance scheme for applications such as obstacle or pedestrian detection. Experimental results on urban environments with different road geometries are presented.
UR  - http://www.cvc.uab.es/adas/publications/sappa_iciar2006.pdf
L1  - http://refbase.cvc.uab.es/files/SGD2006b.pdf
N1  - ADAS
ID  - Angel Sappa2006
ER  -