Title :
Vision-based robust localization for vehicles
Author :
Moro, F. ; Fontanelli, D. ; Palopoli, L.
Author_Institution :
DISI - Dept. of Inf. Eng. & Comput. Sci., Univ. of Trento, Trento, Italy
Abstract :
A popular technique to localise a vehicle on the lane is by using a camera mounted on the chassis pointing headway. This approach requires: an image processing algorithm to extract the relevant information from the scene and an estimation algorithm to estimate the position of the lane boundary. In this paper, we address both problems simultaneously by defining a robust estimation algorithm that simplifies the image processing and enables localization of the vehicle in the 3D space. The accuracy of the proposed solution is evaluated by simulations and experiments.
Keywords :
cameras; computerised instrumentation; estimation theory; image processing; road vehicles; 3D space; camera; chassis pointing headway; image processing algorithm; information extraction; robust estimation algorithm; vehicle; vision-based robust localization; Cameras; Estimation; Human computer interaction; Integrated circuits; TV; Vectors; Vehicles; Camera Localization; Inverse Perspective Mapping; Vison-based Estimation;
Conference_Titel :
Instrumentation and Measurement Technology Conference (I2MTC), 2012 IEEE International
Conference_Location :
Graz
Print_ISBN :
978-1-4577-1773-4
DOI :
10.1109/I2MTC.2012.6229586