PT Unknown
AU Angel Sappa
   David Geronimo
   Fadi Dornaika
   Antonio Lopez
TI Real Time Vehicle Pose Using On-Board Stereo Vision System
BT International Conference on Image Analysis and Recognition
PY 2006
BP 205–216
IS LNCS 4142
AB 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.
ER