A Framework for Feature-Based Motion Recovery in Ground Plane Vehicle Navigation

This paper describes a feature point matching strategy and motion recovery applied to vehicle navigation. A transformation of the image plane is used that keeps the motion of the vehicle parallel to the transformed plane. These allows us to define linear tTacking filters to estimate the real-world positions of the features. The correspondences between features are first selected by similarity, taking into account the smoothness of motion and rigidity of the scene. Further processing brings out the rest of correspondences. The method is applied to a real application consisting of an autonomous vehicle navigating in a crop field.

• Type: Conference
• Year: 1997
• Where: CAIP
• Authors: José M. Sanchiz, Filiberto Pla, John A. Marchant
• Keywords: CAIP 1997, Image Analysis, Motion Recovery, Point Matching Strategy, Vehicle