NDLI: Improving accuracy for Ego vehicle motion estimation using epipolar geometry

Content Provider	IEEE Xplore Digital Library
Author	Nedevschi, S. Golban, C. Mitran, C.
Copyright Year	2009
Description	Author affiliation: Technical University of Cluj-Napoca, Cluj, 400020 Romania (Nedevschi, S.; Golban, C.; Mitran, C.)
Abstract	This paper presents an original method for increasing the accuracy of ego vehicle motion estimation using video data. Our algorithm takes as input a monocular video sequence on which originally combines procedures for feature detection and filtering, optical flow, epipolar geometry and estimation of the rotation from the obtained essential matrix. Imposing a movement constraint on the rotation matrix, we obtain a powerful method for estimating the rotation of the vehicle from frame to frame. Furthermore, the obtained rotation and stereo data are used for computing the translation of the vehicle. The use of stereo data only for translation estimation diminishes the influence of stereo errors on rotation matrix. Experiments have been performed using various urban traffic scenes, with horizontal and vertical curvatures revealing a high degree of accuracy compared to reference measurements.
Starting Page	1
Ending Page	7
File Size	963747
Page Count	7
File Format	PDF
ISBN	9781424455195
DOI	10.1109/ITSC.2009.5309610
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-10-04
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Vehicles Motion estimation Geometry Geometrical optics Optical filters Filtering algorithms Video sequences Computer vision Optical detectors Image motion analysis
Content Type	Text
Resource Type	Article

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