This study introduces an approach to three-dimensional vehicle pose estimation using a stereo camera system. After computation of stereo and optical flow on the investigated scene, a four-dimensional clustering approach separates the static from the moving objects in the scene. The iterative closest point algorithm (ICP) estimates the vehicle pose using a cuboid as a weak vehicle model. In contrast to classical ICP optimisation a polar distance metric is used which especially takes into account the error distribution of the stereo measurement process. The tracking approach is based on tracking-by-detection such that no temporal filtering is used. The method is evaluated on seven different real-world sequences, where different stereo algorithms, baseline distances, distance metrics, and optimisation algorithms are examined. The results show that the proposed polar distance metric yields a higher accuracy for yaw angle estimation of vehicles than the common Euclidean distance metric, especially when using pixel-accurate stereo points.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    3D pose estimation of vehicles using a stereo camera


    Beteiligte:
    Barrois, Bjorn (Autor:in) / Hristova, Stela (Autor:in) / Wohler, Christian (Autor:in) / Kummert, Franz (Autor:in) / Hermes, Christoph (Autor:in)


    Erscheinungsdatum :

    01.06.2009


    Format / Umfang :

    4322218 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    3D Pose Estimation of Vehicles Using a Stereo Camera

    Barrois, B. / Hristova, S. / Wohler, C. et al. | British Library Conference Proceedings | 2009


    Stereo camera for vehicles

    ADOMAT ROLF / FECHNER THOMAS / KROEKEL DIETER et al. | Europäisches Patentamt | 2019

    Freier Zugriff

    Stereo Camera for Vehicles

    ADOMAT ROLF / FECHNER THOMAS / KROEKEL DIETER et al. | Europäisches Patentamt | 2017

    Freier Zugriff

    STEREO CAMERA DEVICE FOR VEHICLES

    YOSHIMURA SHOTA / MINAKAWA MASATOSHI / YUKAWA TERU et al. | Europäisches Patentamt | 2020

    Freier Zugriff

    STEREO VISION-BASED DRIVER HEAD POSE ESTIMATION

    Hoffken, M. / Tarayan, E. / Kressel, U. et al. | British Library Conference Proceedings | 2014