DocumentCode :
663436
Title :
3D motion estimation based on pitch and azimuth from respective camera and laser rangefinder sensing
Author :
Van-Dung Hoang ; Hernandez, Danilo Caceres ; My-Ha Le ; Kang-Hyun Jo
Author_Institution :
Sch. of Electr. Eng., Univ. of Ulsan, Ulsan, South Korea
fYear :
2013
fDate :
3-7 Nov. 2013
Firstpage :
735
Lastpage :
740
Abstract :
This paper proposes a new method to estimate the 3D motion of a vehicle based on car-like structured motion model using an omnidirectional camera and a laser rangefinder. In recent years, motion estimation using vision sensor has improved by assuming planar motion in most conventional research to reduce requirement parameters and computational cost. However, for real applications in environment of outdoor terrain, the motion does not satisfy this condition. In contrast, our proposed method uses one corresponding image point and motion orientation to estimate the vehicle motion in 3D. In order to reduce requirement parameters for speedup computational systems, the vehicle moves under car-like structured motion model assumption. The system consists of a camera and a laser rangefinder mounted on the vehicle. The laser rangefinder is used to estimate motion orientation and absolute translation of the vehicle. An omnidirectional image-based one-point correspondence is used for combining with motion orientation and absolute translation to estimate rotation components of yaw, pitch angles and three translation components of Tx, Ty, and Tz. Real experiments in sloping terrain demonstrate the accuracy of vehicle localization estimation using the proposed method. The error at the end of travel position of our method, one-point RANSAC are 1.1%, 5.1%, respectively.
Keywords :
automobiles; cameras; image sensors; motion estimation; traffic engineering computing; 3D motion estimation; absolute translation; car-like structured motion model; image point; laser rangefinder; motion orientation; omnidirectional camera; omnidirectional image-based one-point correspondence; planar motion; rotation components; sloping terrain; vision sensor; Cameras; Geometry; Motion estimation; Roads; Three-dimensional displays; Trajectory; Vehicles; 3D motion estimation; fusion multiple sensors; laser range finder; omnidirectional camera; one-point correspondence;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on
Conference_Location :
Tokyo
ISSN :
2153-0858
Type :
conf
DOI :
10.1109/IROS.2013.6696433
Filename :
6696433
Link To Document :
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