A popular technique to localise a vehicle on the lane is by using a camera mounted on the chassis pointing headway. This approach requires: an image processing algorithm to extract the relevant information from the scene and an estimation algorithm to estimate the position of the lane boundary. In this paper, we address both problems simultaneously by defining a robust estimation algorithm that simplifies the image processing and enables localization of the vehicle in the 3D space. The accuracy of the proposed solution is evaluated by simulations and experiments.
A popular technique to localise a vehicle on the lane is by using a camera mounted on the chassis pointing headway. This approach requires: an image processing algorithm to extract the relevant information from the scene and an estimation algorithm to estimate the position of the lane boundary. In this paper, we address both problems simultaneously by defining a robust estimation algorithm that simplifies the image processing and enables localization of the vehicle in the 3D space. The accuracy of the proposed solution is evaluated by simulations and experiments. © 2012 IEEE.
Vision-based robust localization for vehicles / Moro, Federico; Fontanelli, Daniele; Palopoli, Luigi. - STAMPA. - (2012), pp. 553-558. ( 2012 IEEE International Instrumentation and Measurement Technology Conference, I2MTC 2012 Graz, AUstria 13-16 May 2012) [10.1109/I2MTC.2012.6229586].
Vision-based robust localization for vehicles
Moro, Federico;Fontanelli, Daniele;Palopoli, Luigi
2012-01-01
Abstract
A popular technique to localise a vehicle on the lane is by using a camera mounted on the chassis pointing headway. This approach requires: an image processing algorithm to extract the relevant information from the scene and an estimation algorithm to estimate the position of the lane boundary. In this paper, we address both problems simultaneously by defining a robust estimation algorithm that simplifies the image processing and enables localization of the vehicle in the 3D space. The accuracy of the proposed solution is evaluated by simulations and experiments. © 2012 IEEE.| File | Dimensione | Formato | |
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