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차선검출 기반 카메라 포즈 추정

Title
차선검출 기반 카메라 포즈 추정
Other Titles
Lane Detection-based Camera Pose Estimation
Author
정호기
Keywords
카메라 캘리브레이션; 포즈 추정; 차선검출; 소실점; 소실선; Camera calibration; Pose estimation; Lane detection; Vanishing point; Vanishing line
Issue Date
2015-09
Publisher
한국자동차공학회
Citation
한국자동차공학회 논문집, v. 23, NO 5, Page. 463-470
Abstract
When a camera installed on a vehicle is used, estimation of the camera pose including tilt, roll, and pan angle with respect to the world coordinate system is important to associate camera coordinates with world coordinates. Previous approaches using huge calibration patterns have the disadvantage that the calibration patterns are costly to make and install. And, previous approaches exploiting multiple vanishing points detected in a single image are not suitable for automotive applications as a scene where multiple vanishing points can be captured by a front camera is hard to find in our daily environment. This paper proposes a camera pose estimation method. It collects multiple images of lane markings while changing the horizontal angle with respect to the markings. One vanishing point, the cross point of the left and right lane marking, is detected in each image, and vanishing line is estimated based on the detected vanishing points. Finally, camera pose is estimated from the vanishing line. The proposed method is based on the fact that planar motion does not change the vanishing line of the plane and the normal vector of the plane can be estimated by the vanishing line. Experiments with large and small tilt and roll angle show that the proposed method outputs accurate estimation results respectively. It is verified by checking the lane markings are up right in the bird’s eye view image when the pan angle is compensated.
URI
http://www.dbpia.co.kr/Journal/ArticleDetail/NODE06504677?TotalCount=2&Seq=1&q=(%5B%EC%B0%A8%EC%84%A0%EA%B2%80%EC%B6%9C%20%EA%B8%B0%EB%B0%98%20%EC%B9%B4%EB%A9%94%EB%9D%BC%20%ED%8F%AC%EC%A6%88%20%EC%B6%94%EC%A0%95%C2%A7coldb%C2%A72%C2%A751%C2%A73%5D)&searchWord=%EC%A0%84%EC%B2%B4%3D%5E%24%EC%B0%A8%EC%84%A0%EA%B2%80%EC%B6%9C%20%EA%B8%B0%EB%B0%98%20%EC%B9%B4%EB%A9%94%EB%9D%BC%20%ED%8F%AC%EC%A6%88%20%EC%B6%94%EC%A0%95%5E*&searchWordCondition=%EC%9E%90%EB%A3%8C%EC%9C%A0%ED%98%95%3D%5E%24%EC%A0%84%EC%B2%B4%5E*&Multimedia=0&isIdentifyAuthor=0&Collection=0&isFullText=0&specificParam=0&SearchMethod=2&SearchOper=System.Int32%5B%5D&SearchKeyword=System.String%5B%5D&SearchOption=System.Int32%5B%5D&Category=002008&Sort=1&SortType=desc&Page=1&PageSize=20http://hdl.handle.net/20.500.11754/27758
ISSN
1225-6382; 2234-0149
DOI
10.7467/KSAE.2015.23.5.463
Appears in Collections:
COLLEGE OF ENGINEERING[S](공과대학) > AUTOMOTIVE ENGINEERING(미래자동차공학과) > Articles
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