Simultaneous estimation of ego-motion and vehicle distance by using a monocular camera

被引：0
|
作者：
YANG DongFang [1 ,2 ]
SUN FuChun [2 ]
WANG ShiCheng [1 ]
ZHANG JinSheng [1 ]
机构：
[1] The Second Artillery Engineering University
[2] State Key Laboratory of Intelligent Technology and Systems, Tsinghua University
来源：
Science China(Information Sciences) | 2014年 / 57卷 / 05期
基金：
中国国家自然科学基金;
关键词：
auto navigation; monocular vision; vehicle distance;
D O I：
暂无
中图分类号：
U463.6 [电气设备及附件]; U495 [电子计算机在公路运输和公路工程中的应用];
学科分类号：
080204 ; 082304 ; 0838 ;
摘要：
Auto navigation and vehicle distance estimation are of the critical importance in intelligent vehicles.This paper proposes a novel approach to solve these two problems simultaneously by using a monocular camera.First,we introduce an incremental depth parameterized model to overcome the scale ambiguity problem in monocular vision,which differs from other parameterized models with reduced state-dimension and consistent observability.In addition,the view-field of camera is divided into static and dynamic parts so that the egomotion and vehicle-space can be calculated simultaneously.Outdoor experiments are implemented to validate the effectiveness of the proposed approach.
引用
收藏
页码：272 / 281
页数：10
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