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Proceedings Paper

Camera position estimation method based on matching of top-view images for running vehicle
Author(s): Tomoaki Teshima; Hideo Saito; Shinji Ozawa; Keiichi Yamamoto; Toru Ihara
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Paper Abstract

In this paper, a method which estimates the trajectory of the vehicle from a single vehicle camera is proposed. The proposed method is a model based method which assumes that the vehicle is running on a planar road. The input image is converted to a Top-View image and a matching (registration) between the next Top-View image is done. The registration is done based on an assumed velocity parameter, and repeated with entire candidate parameters. In this paper, a simple model and the particle filter is introduced to decrease the computation cost. Simple model gives a constraint to the registration of the Top-View images, and the particle filter decreases the number of the candidate parameters. Position of the camera is obtained by accumulating the velocity parameters. Experiments shows 3 results. Enough decreasement of the computation cost, suitable estimated trajectory and small enough computation cost to estimate the trajectory of the vehicle.

Paper Details

Date Published: 26 February 2007
PDF: 12 pages
Proc. SPIE 6496, Real-Time Image Processing 2007, 649605 (26 February 2007); doi: 10.1117/12.704067
Show Author Affiliations
Tomoaki Teshima, Keio Univ. (Japan)
Hideo Saito, Keio Univ. (Japan)
Shinji Ozawa, Keio Univ. (Japan)
Keiichi Yamamoto, Mitsubishi Fuso Truck and Bus Corp. (Japan)
Toru Ihara, Mitsubishi Fuso Truck and Bus Corp. (Japan)


Published in SPIE Proceedings Vol. 6496:
Real-Time Image Processing 2007
Nasser Kehtarnavaz; Matthias F. Carlsohn, Editor(s)

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