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	Author	Angel Sappa; Fadi Dornaika; David Geronimo; Antonio Lopez
	Title	Efficient On-Board Stereo Vision Pose Estimation			Type	Conference Article
	Year	2007	Publication	Computer Aided Systems Theory, Selected paper from	Abbreviated Journal
	Volume	4739	Issue		Pages	1183–1190
	Keywords
	Abstract	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 position and 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.
	Address	Las Palmas de Gran Canaria (Spain)
	Corporate Author				Thesis
	Publisher		Place of Publication		Editor
	Language		Summary Language		Original Title
	Series Editor		Series Title		Abbreviated Series Title	LNCS
	Series Volume		Series Issue		Edition
	ISSN		ISBN		Medium
	Area		Expedition		Conference	EUROCAST
	Notes	ADAS			Approved	no
	Call Number	ADAS @ adas @ SDG2007b			Serial	916
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