Cart (Loading....) | Create Account
Close category search window
 

Location estimation and trajectory prediction of moving lateral vehicle using two wheel shapes information in 2-D lateral vehicle images by 3-D computer vision techniques

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Chih-Chiun Lai ; Dept. of Comput. & Inf. Sci., Nat. Chiao Tung Univ., Hsinchu, Taiwan ; Wen-Hsiang Tsai

A novel approach to location estimation and trajectory prediction of moving lateral vehicle locations for driving assistance using wheels shape information in single 2-D vehicle images by 3-D computer vision techniques is proposed. The location scheme is supposed to be performed on a vehicle with a camera mounted on the front bumper. An analytical solution is applied to estimate the location of the lateral vehicle. Firstly, the normal vectors of the car wheels in the camera coordinate system as well as the projections of the wheel centers in the image plane are derived. Then orientation angle of the lateral vehicle with respect to the driving vehicle is derived from the two vectors. Next, the image projections of the contact points of the wheels with the ground are detected. Finally, the image positions of the contact points are used to determine the 3D relative position of the moving vehicle with respect to the camera coordinate system by the back-projection principle. After the location of a moving lateral vehicle is obtained, a new approach is proposed to predict the trajectory of a lateral vehicle by using the spatial information of the two wheels in a single image. Real images are tested and experimental results show the effectiveness of the proposed approaches. The results are useful for car driving assistance and vehicle collision avoidance.

Published in:

Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on  (Volume:1 )

Date of Conference:

14-19 Sept. 2003

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.