26 February 2007 Camera position estimation method based on matching of Top-View images for running vehicle
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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.
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Tomoaki Teshima, Tomoaki Teshima, Hideo Saito, Hideo Saito, Shinji Ozawa, Shinji Ozawa, Keiichi Yamamoto, Keiichi Yamamoto, Toru Ihara, Toru Ihara, "Camera position estimation method based on matching of Top-View images for running vehicle", Proc. SPIE 6496, Real-Time Image Processing 2007, 649605 (26 February 2007); doi: 10.1117/12.704067; https://doi.org/10.1117/12.704067

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