Name
Abstract | ||
|---|---|---|
This paper presents an efficient technique for real time estimation of on-board stereo vision system pose. The whole process is performed in the Euclidean space and consists of two stages. Initially, a compact representation of the original 3D data points is computed. Then, a RANSAC based least squares approach is used for fitting a plane to the 3D road points. Fast RANSAC fitting is obtained by selecting points according to a probability distribution function that takes into account the density of points at a given depth. Finally, stereo camera position and orientation--pose--is computed relative to the road plane. The proposed technique is intended to be used on driver assistance systems for applications such as obstacle or pedestrian detection. A real time performance is reached. Experimental results on several environments and comparisons with a previous work are presented. |
Year | Venue | Keywords |
|---|---|---|
2007 | EUROCAST | fast ransac fitting,efficient on-board stereo vision,real time estimation,efficient technique,road plane,proposed technique,road point,stereo camera position,real time performance,on-board stereo vision system,euclidean space,pose estimation,probability distribution function,least square,stereo vision,real time |
Field | DocType | Volume |
Data point,Computer vision,Stereo camera,Stereopsis,RANSAC,Computer science,Advanced driver assistance systems,Pose,Artificial intelligence,Pedestrian detection,Computer stereo vision | Conference | 4739 |
ISSN | ISBN | Citations |
0302-9743 | 3-540-75866-6 | 0 |
PageRank | References | Authors |
0.34 | 6 | 4 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Angel Domingo Sappa | 1 | 565 | 33.54 |
| Fadi Dornaika | 2 | 809 | 96.43 |
| David Gerónimo | 3 | 534 | 21.56 |
| Antonio López | 4 | 104 | 9.02 |