13 April 2018 Using virtual environment for autonomous vehicle algorithm validation
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Proceedings Volume 10696, Tenth International Conference on Machine Vision (ICMV 2017); 106961R (2018) https://doi.org/10.1117/12.2310175
Event: Tenth International Conference on Machine Vision, 2017, Vienna, Austria
Abstract
This paper describes possible use of modern game engine for validating and proving the concept of algorithm design. As the result simple visual odometry algorithm will be provided to show the concept and go over all workflow stages. Some of stages will involve using of Kalman filter in such a way that it will estimate optical flow velocity as well as position of moving camera located at vehicle body. In particular Unreal Engine 4 game engine will be used for generating optical flow patterns and ground truth path. For optical flow determination Horn and Schunck method will be applied. As the result, it will be shown that such method can estimate position of the camera attached to vehicle with certain displacement error respect to ground truth depending on optical flow pattern. For displacement rate RMS error is calculating between estimated and actual position.
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Aleksandrs Levinskis, Aleksandrs Levinskis, } "Using virtual environment for autonomous vehicle algorithm validation", Proc. SPIE 10696, Tenth International Conference on Machine Vision (ICMV 2017), 106961R (13 April 2018); doi: 10.1117/12.2310175; https://doi.org/10.1117/12.2310175
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