Title :
Accurate reconstruction of the path followed by a motorcycle from the on-board camera images
Author :
Nori, Francesco ; Frezza, Ruggero
Author_Institution :
Dipt. di Ingegneria dell´´Inf., Univ. degli Studi di Padova, Italy
Abstract :
In this paper we present an algorithm for estimating the egomotion of a video camera rigidly mounted on a motorcycle. In particular, we first present a simple, yet accurate model of a motorcycle; we then show how this model can be integrated through time to obtain the egomotion of the camera. Finally, considering that the integration of the model requires precise measurements of the roll angle of the motorcycle, we present a robust algorithm for estimating the roll angle from a given sequence of images.
Keywords :
Hough transforms; image reconstruction; image sequences; motion estimation; path planning; road vehicles; accurate path reconstruction; egomotion; image sequences; motorcycle; onboard camera images; roll angle; video camera; Application software; Cameras; Computer errors; Humans; Image reconstruction; Image sequences; Motorcycles; Robustness; Vehicles; Velocity measurement;
Conference_Titel :
Intelligent Vehicles Symposium, 2003. Proceedings. IEEE
Print_ISBN :
0-7803-7848-2
DOI :
10.1109/IVS.2003.1212919
