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Ego-Motion and Indirect Road Geometry Estimation Using Night Vision
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
Linköping University, The Institute of Technology. Linköping University, Department of Electrical Engineering, Automatic Control.
2009 (English)In: Proceedings of the '09 IEEE Intelligent Vehicle Symposium, 2009, 30-35 p.Conference paper, Published paper (Refereed)
Abstract [en]

The sensors present in modern premium cars deliver a wealth of information. We will in this work illustrate one way of making better use of the sensor information already present in modern premium cars. More specifically, we will show how a far infrared (FIR) camera can be used to enhance the estimates of the vehicle ego-motion and indirectly the road geometry in 3D. The FIR camera is primarily intended for pedestrian detection. The solution is obtained by solving a suitable sensor fusion problem, where we merge information from proprioceptive sensors with the FIR camera images. In order to illustrate the performance of the proposed method we have made use of measurement sequences recorded during night-time driving on rural roads in Sweden. The results illustrate that the FIR images can be used to improve the ego-motion estimation, especially during night time driving.

Place, publisher, year, edition, pages
2009. 30-35 p.
Keyword [en]
Automobiles, Computational geometry, Image sequences, Night vision, Traffic engineering computing
National Category
Engineering and Technology Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-45384DOI: 10.1109/IVS.2009.5164248Local ID: 82370ISBN: 978-1-4244-3504-3 (print)ISBN: 978-1-4244-3503-6 (print)OAI: oai:DiVA.org:liu-45384DiVA: diva2:266246
Conference
'09 IEEE Intelligent Vehicle Symposium, Xi'an, China, June, 2009
Projects
CADICS
Available from: 2009-10-10 Created: 2009-10-10 Last updated: 2013-02-20

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Schön, ThomasRoll, Jacob

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Total: 149 hits
CiteExportLink to record
Permanent link

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Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • oxford
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf