Ego-motion estimation by matching dewarped road regions using stereo images

This paper proposes a method for vehicle ego-motion estimation using vehicle-mounted stereo cameras. Estimating ego-motion using cameras requires extraction of static regions from the images. We first use stereo images to estimate regions which correspond to the road plane and can be considered as static areas. Subsequently, we propose a virtual projection plane (VPP) image that is equivalent to the top view of the road scene. A vehicle´s ego-motion is obtained by matching the sequential VPP images of the road patterns in the extracted regions. We use a vehicle-motion model and consider a matching method to easily and accurately determine the ego-motion. Finally, we present experimental results obtained using our method