TY - JOUR AU - Fadi Dornaika AU - Angel Sappa PY - 2009// TI - A Featureless and Stochastic Approach to On-board Stereo Vision System Pose T2 - IMAVIS JO - Image and Vision Computing SP - 1382–1393 VL - 27 IS - 9 KW - On-board stereo vision system KW - Pose estimation KW - Featureless approach KW - Particle filtering KW - Image warping N2 - This paper presents a direct and stochastic technique for real-time estimation of on-board stereo head’s position and orientation. Unlike existing works which rely on feature extraction either in the image domain or in 3D space, our proposed approach directly estimates the unknown parameters from the stream of stereo pairs’ brightness. The pose parameters are tracked using the particle filtering framework which implicitly enforces the smoothness constraints on the estimated parameters. The proposed technique can be used with a driver assistance applications as well as with augmented reality applications. Extended experiments on urban environments with different road geometries are presented. Comparisons with a 3D data-based approach are presented. Moreover, we provide a performance study aiming at evaluating the accuracy of the proposed approach. UR - http://dblp.uni-trier.de/db/journals/ivc/ivc27.html#DornaikaS09 UR - http://dx.doi.org/10.1016/j.imavis.2008.12.006 N1 - ADAS ID - Fadi Dornaika2009 ER -