Tracking Distance and Velocity Using a Stereo Vision System

Author

Lim, Young-Chul ; Lee, Chung-Hee ; Kwon, Soon ; Lee, Jong-Hun

Author_Institution

Daegu Gyengbuk Inst. of Sci. & Technol.

Volume

3

fYear

2008

fDate

13-15 Dec. 2008

Firstpage

48

Lastpage

50

Abstract

In this paper, a method to estimate and track the distance and velocity of an obstacle on the road based on a stereo vision system is presented. The distance and velocity can be calculated using the disparity in the stereo vision system. However, the quantization error of the pixels causes a deterioration in accuracy. The sub-pixel interpolation is used to compensate for the error, and then, the distance and velocity are tracked with a strong tracking extended Kalman filter using a constant velocity model (STEKF-CVM). The Monte-Carlo simulation results show that the performance of STEKF-CVM is better than that of other filters.

Keywords

Kalman filters; Monte Carlo methods; image resolution; interpolation; quantisation (signal); stereo image processing; Monte-Carlo simulation; constant velocity model; quantization error; stereo vision system; strong tracking extended Kalman filter; subpixel interpolation; tracking distance; tracking velocity; Filters; Gaussian distribution; Intelligent sensors; Intelligent vehicles; Interpolation; Quantization; Radar tracking; Roads; Stereo vision; Target tracking;

fLanguage

English

Publisher

ieee

Conference_Titel

Future Generation Communication and Networking Symposia, 2008. FGCNS '08. Second International Conference on

Conference_Location

Sanya

Print_ISBN

978-1-4244-3430-5

Electronic_ISBN

978-0-7695-3546-3

Type

conf

DOI

10.1109/FGCNS.2008.42

Filename

4813545