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Vehicle Trajectory from an Uncalibrated Stereo-Rig with Super-Homography

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2 Author(s)
Simond, N. ; Centre de Robotique, Ecole Nat. Superieure des Mines de Paris ; Laurgeau, C.

We present in this article an original manner to estimate the trajectory of a vehicle running in urban-like areas. The method consists in extracting then tracking features (points, lines) with an uncalibrated stereo-rig from the road assumed as a plane to compute homographies relative to the camera(s) motions. The purposed method copes with the dense traffic conditions: the free space required (first ten meters in front of the vehicle) is slightly equivalent to the security distance between two vehicles. Experimental issues from real data are presented and discussed

Published in:

Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on

Date of Conference:

9-15 Oct. 2006