NDLI: 3D pose estimation of vehicles using a stereo camera

Content Provider	IEEE Xplore Digital Library
Author	Barrois, B. Hristova, S. Wohler, C. Kummert, F. Hermes, C.
Copyright Year	2009
Description	Author affiliation: Bielefeld University, Faculty of Technology, Applied Computer Science Group, P. O. Box 100 131, D-33501, Germany (Kummert, F.; Hermes, C.) \|\| Daimler AG, Group Research, Environment Perception, P.O. Box 2360, D-89013 Ulm, Germany (Barrois, B.; Hristova, S.; Wohler, C.)
Abstract	This study introduces an approach to three-dimensional vehicle pose estimation using a stereo camera system. After computation of stereo and optical flow on the investigated scene, a four-dimensional clustering approach separates the static from the moving objects in the scene. The iterative closest point algorithm (ICP) estimates the vehicle pose using a cuboid as a weak vehicle model. In contrast to classical ICP optimisation a polar distance metric is used which especially takes into account the error distribution of the stereo measurement process. The tracking approach is based on tracking-by-detection such that no temporal filtering is used. The method is evaluated on seven different real-world sequences, where different stereo algorithms, baseline distances, distance metrics, and optimisation algorithms are examined. The results show that the proposed polar distance metric yields a higher accuracy for yaw angle estimation of vehicles than the common Euclidean distance metric, especially when using pixel-accurate stereo points.
Starting Page	267
Ending Page	272
File Size	4322218
Page Count	6
File Format	PDF
ISBN	9781424435036
ISSN	19310587
DOI	10.1109/IVS.2009.5164289
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-06-03
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Vehicles Cameras Iterative closest point algorithm Layout Optical computing Optical filters Image motion analysis Filtering Optimization methods Yield estimation
Content Type	Text
Resource Type	Article

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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