TY  - CONF
AU  - Angel Sappa
AU  - Fadi Dornaika
AU  - David Geronimo
AU  - Antonio Lopez
A2  - EUROCAST
PY  - 2007//
TI  - Efficient On-Board Stereo Vision Pose Estimation
T2  - LNCS
BT  - Computer Aided Systems Theory, Selected paper from
SP  - 1183–1190
VL  - 4739
N2  - 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.
UR  - http://www.cvc.uab.es/adas/publications/sappa_eurocast2007a.pdf
L1  - http://refbase.cvc.uab.es/files/SDG2007b.pdf
N1  - ADAS
ID  - Angel Sappa2007
ER  -