NDLI: Video-based roll angle estimation for two-wheeled vehicles

Content Provider	IEEE Xplore Digital Library
Author	Schlipsing, M. Schepanek, J. Salmen, J.
Copyright Year	2011
Description	Author affiliation: Institut für Neuroinformatik, Ruhr-Universität Bochum, 44780, Germany (Schlipsing, M.; Schepanek, J.; Salmen, J.)
Abstract	Video-based driver assistance systems are a key component for intelligent vehicles today. Applications for lane detection, traffic sign recognition, and collision avoidance have been successfully deployed in cars and trucks. State-of-the art algorithms rely on machine learning and therefore depend on invariance conditions, e.g. a fixed image perspective. In order to apply current modules in two-wheeled vehicles one needs to determine the roll angle, i.e. the angle between the road plane and the slanted vehicle. It can either be used for parametrisation of the algorithms or for rotation of the video image back to a horizontal alignment. Using an inertial measurement unit to acquire this data is unreasonably expensive. We propose a video-based module that estimates the current roll angle based on gradient orientation histograms to overcome this flaw. Due to the visual structure of a traffic scene we are able to derive possible roll angles from the gradient statistics by correlation with learnt data. Analogously, we estimate the roll rate by correlating subsequent image statistics and stabilise both measures within a linear Kalman filter. Experiments on real image data from various test scenarios show high accuracy of the proposed approach. Thus, estimating the roll angle / rate from video only, enables us to employ established video-based assistance modules for two-wheeled vehicles without any additional hardware expense.
Starting Page	876
Ending Page	881
File Size	472891
Page Count	6
File Format	PDF
ISBN	9781457708909
ISSN	19310587
e-ISBN	9781457708916
DOI	10.1109/IVS.2011.5940533
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-06-05
Publisher Place	Germany
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Histograms Estimation Vehicles Roads Training Correlation Cameras
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
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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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