Pose self-calibration of stereo vision systems for autonomous vehicle applications Articles uri icon

publication date

  • September 2016

issue

  • 9

volume

  • 16

International Standard Serial Number (ISSN)

  • 1424-8220

abstract

  • Nowadays, intelligent systems applied to vehicles have grown very rapidly; their goal is not only the improvement of safety, but also making autonomous driving possible. Many of these intelligent systems are based on making use of computer vision in order to know the environment and act accordingly. It is of great importance to be able to estimate the pose of the vision system because the measurement matching between the perception system (pixels) and the vehicle environment (meters) depends on the relative position between the perception system and the environment. A new method of camera pose estimation for stereo systems is presented in this paper, whose main contribution regarding the state of the art on the subject is the estimation of the pitch angle without being affected by the roll angle. The validation of the self-calibration method is accomplished by comparing it with relevant methods of camera pose estimation, where a synthetic sequence is used in order to measure the continuous error with a ground truth. This validation is enriched by the experimental results of the method in real traffic environments.

keywords

  • camera pose estimation; stereo vision; advanced driver assistance systems; intelligent vehicles; extrinsic camera calibration; efficient; image