Efficient On-Board Stereo Vision Pose Estimation

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.

• Type: Conference
• Year: 2007
• Where: EUROCAST
• Authors: Angel Domingo Sappa, Fadi Dornaika, David Gerónimo, Antonio M. López
• Keywords: EUROCAST 2007, Hardware, On-board Stereo Vision, Real Time, Real Time Estimation