Ego-Motion Computing for Vehicle Velocity Estimation

Sotelo, Miguel Ángel; Flores, Ramón F.; García, Ricardo; Ocaña, Manuel; Garrido, Miguel Ángel G.; Parra, Ignacio; Llorca, David F.; Gavilán, Miguel; Naranjo, J. Eugenio
Year: 2007
Type of Publication: Article
Keywords: Vision; Ego-motion; Velocity Estimation; Intelligent Vehicles
Journal: Lecture Notes in Computer Science
Volume: 4739
Number: 2007
Pages: 1119-1125
Month: November
ISSN: 0302-9743
DOI: 10.1007/978-3-540-75867-9_140
In this paper, we present a method for computing velocity using a single camera onboard a road vehicle, i.e. an automobile. The use of computer vision provides a reliable method to measure vehicle velocity based on ego-motion computation. By doing so, cumulative errors inherent to odometry-based systems can be reduced to some extent. Road lane markings are the basic features used by the algorithm. They are detected in the image plane and grouped in couples in order to provide geometrically constrained vectors that make viable the computation of vehicle motion in a sequence of images. The applications of this method can be mainly found in the domains of Robotics and Intelligent Vehicles.
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