Title :
Estimation of vehicle pose and road curvature based on Perception-Net
Author :
Lee, Sukhan ; Lee, Jae-Won ; Shin, Dongmok ; Kwon, Woong ; Kim, Dong-Yoon ; Roh, Kyoungsig ; Boo, Kwang S.
Author_Institution :
Samsung Adv. Inst. of Technol., South Korea
Abstract :
Proposed is an algorithm to estimate vehicle pose and road curvature by geometrically fusing sensor data from camera image, velocity meter, and steering wheel encoder. To achieve computational efficiency in processing in a real time sequence, we propose a method to model the lane on the road as a series of connected rectangular plates. We propose an algorithm, the so called “Perception-Net”, where not only variables denoting the vehicle pose and the road curvature, but also the corresponding uncertainties are propagated in forward and backward directions in such a way to satisfy the given constraint condition, maintain consistency, reduce the uncertainties, and guarantee robustness. An experimental result is also presented
Keywords :
constraint theory; knowledge representation; nonlinear programming; parameter estimation; road vehicles; sensor fusion; uncertainty handling; Perception-Net; camera image; computational efficiency; real time sequence; road curvature; robustness; steering wheel encoder; vehicle pose; velocity meter; Cameras; Control systems; Image sensors; Intelligent vehicles; Road safety; Road vehicles; Uncertainty; Vehicle detection; Vehicle driving; Vehicle safety;
Conference_Titel :
Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on
Conference_Location :
Detroit, MI
Print_ISBN :
0-7803-5180-0
DOI :
10.1109/ROBOT.1999.770396