Determination of Camera´s Cycab Position

Author

Loukil, Rania ; Bouchaala, Dhouha ; Dumortier, Yann

Author_Institution

Res. Unit of Intell. Control, Design & Optimization of Complex Syst. (ICOS), Nat. Sch. of Eng. of Sfax, Sfax, Tunisia

fYear

2011

fDate

22-25 March 2011

Firstpage

1

Lastpage

6

Abstract

This work describes a visual odometry by minimizing a quadrifocal constraint in order to calculate the position of an autonomous vehicle (Cycab). This method can also reject outliers corresponding to moving objects such as occlusions and illumination changes. An iterative non-linear trajectory estimation approach is formulated and it is based on a quadrifocal relationship between the image intensities within adjacent views of the stereo pair. The technique is applied to recovering the trajectory of a moving vehicle in a video sequence.

Keywords

distance measurement; image sensors; image sequences; iterative methods; traffic engineering computing; autonomous vehicle; camera cycab position; iterative nonlinear trajectory estimation approach; quadrifocal constraint minimization; video sequence; visual odometry; Cameras; Cost function; Estimation; Least squares approximation; Robustness; Tensile stress; Visualization; Cycab; quadrifocal constraint; visual odometry;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems, Signals and Devices (SSD), 2011 8th International Multi-Conference on

Conference_Location

Sousse

Print_ISBN

978-1-4577-0413-0

Type

conf

DOI

10.1109/SSD.2011.5993571

Filename

5993571