%0 Conference Proceedings
%T Real Time Vehicle Pose Using On-Board Stereo Vision System
%A Angel Sappa
%A David Geronimo
%A Fadi Dornaika
%A Antonio Lopez
%B International Conference on Image Analysis and Recognition
%D 2006
%N LNCS 4142
%F Angel Sappa2006
%O ADAS
%O exported from refbase (http://refbase.cvc.uab.es/show.php?record=671), last updated on Thu, 10 Oct 2013 15:14:34 +0200
%X 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.
%U http://www.cvc.uab.es/adas/publications/sappa_iciar2006.pdf
%U http://refbase.cvc.uab.es/files/SGD2006b.pdf
%P 205–216