NDLI: 3-D Motion Estimation Using Range Data

Content Provider	IEEE Xplore Digital Library
Author	Gharavi, H. Shaoshuai Gao
Copyright Year	2000
Abstract	Advanced vehicle-based safety and warning systems use laser scanners to measure road geometry (position and curvature) and range to obstacles in order to warn a driver of an impending crash and/or to activate safety devices (air bags, brakes, and steering). In order to objectively quantify the performance of such a system, the reference system must be an order of magnitude more accurate than the sensors used by the warning system. This can be achieved by using high-resolution range images that can accurately perform object tracking and velocity estimation. Currently, this is very difficult to achieve when the measurements are taken from fast moving vehicles. Thus, the main objective is to improve motion estimation, which involves both the rotational and translation movements of objects. In this respect, an innovative recursive motion-estimation technique that can take advantage of the in-depth resolution (range) to perform accurate estimation of objects that have undergone three-dimensional (3-D) translational and rotational movements is presented. This approach iteratively aims at minimizing the error between the object in the current frame and its compensated object using estimated-motion displacement from the previous range measurements. In addition, in order to use the range data on the nonrectangular grid in the Cartesian coordinate, two approaches have been considered: 1) membrane fit, which interpolates the nonrectangular grid to the rectangular grid, and 2) the nonrectangular-grid range data by employing derivative filters and the proposed transformation between the Cartesian coordinates and the sensor-centered coordinates. The effectiveness of the proposed scheme is demonstrated for sequences of moving-range images
Sponsorship	IEEE Intelligent Transportation Systems Society
Starting Page	133
Ending Page	143
Page Count	11
File Size	575791
File Format	PDF
ISSN	15249050
Volume Number	8
Issue Number	1
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-03-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Motion estimation Road safety Safety devices Alarm systems Current measurement Air safety Vehicle safety Position measurement Geometrical optics Vehicle crash testing vehicle safety Intelligent transport ladar laser scanners object tracking range image three-dimensional (3-D) motion estimation
Content Type	Text
Resource Type	Article
Subject	Automotive Engineering Mechanical Engineering Computer Science Applications

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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