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Proceedings Paper

Onboard camera pose estimation in augmented reality space for direct visual navigation
Author(s): Zhencheng Hu; Keiichi Uchimura
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Paper Abstract

This paper presents a dynamical solution of the registration problem for on-road navigation applications via 3D-2D parameterized model matching algorithm. Traditional camera’s three dimensional (3D) position and pose estimation algorithms always employ the fixed and known-structure models as well as the depth information to obtain the 3D-2D correlations, which is however unavailable for on-road navigation applications since there are no fixed models in the general road scene. With the constraints of road structure and on-road navigation features, this paper presents a 2D digital road map based road shape modeling algorithm. Dynamically generated multi-lane road shape models are used to match real road scene to estimate camera 3D position and pose data. Our algorithms successfully simplified the 3D-2D correlation problem to the 2D-2D road model matching on the projective image. The algorithms proposed in this paper are validated with the experimental results from real road test under different conditions and types of road.

Paper Details

Date Published: 30 May 2003
PDF: 11 pages
Proc. SPIE 5006, Stereoscopic Displays and Virtual Reality Systems X, (30 May 2003); doi: 10.1117/12.479662
Show Author Affiliations
Zhencheng Hu, Matrox Electronic Systems Ltd. (Canada)
Keiichi Uchimura, Kumamoto Univ. (Japan)

Published in SPIE Proceedings Vol. 5006:
Stereoscopic Displays and Virtual Reality Systems X
Andrew J. Woods; Mark T. Bolas; John O. Merritt; Stephen A. Benton, Editor(s)

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