NDLI: A single framework for vehicle roll, pitch, yaw estimation and obstacles detection by stereovision

Content Provider	IEEE Xplore Digital Library
Author	Labayrade, R. Aubert, D.
Copyright Year	2003
Description	Author affiliation: Vehicle-Infrastructure-Driver Interactions Res. Unit- LIVIC, InretsLCPC, Versailles Satory, France (Labayrade, R.; Aubert, D.)
Abstract	This paper presents original framework and method for robust estimation of vehicle roll, pitch, yaw and obstacles detection using stereovision. The "v-disparity" algorithm for generic road obstacles detection, described and evaluated by Labayrade et al. (2002, 2003), is here extended to provide accurate and reliable values of the Euler angles of the vehicle. The algorithm can be divided in three main stages. The first one is designed for roll and pitch estimation. The second one is about obstacles detection and free road estimation. The third one concerns yaw estimation. Each stage is presented and experimental results are shown. In particular, the roll angle is estimated with a precision better than 0.2/spl deg/.
Sponsorship	IEEE Intelligent Transportation Syst. Council
Starting Page	31
Ending Page	36
File Size	352758
Page Count	6
File Format	PDF
ISBN	0780378482
DOI	10.1109/IVS.2003.1212878
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2003-06-09
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Vehicle detection Cameras Road vehicles Noise robustness Image sensors Layout Pixel Equations Solid modeling Geometry
Content Type	Text
Resource Type	Article

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