Abstract
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.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Stein, G.P., Mano, O., Shashua, A.: A robust method for computing vehicle ego-motion. In: Proceeding of the IEEE Intelligent Vehicles Symposium, Parma, Italy (2004)
Horn, B.K., Weldon, E.J.: Direct methods for recovering motion. International Journal of Computer Vision 2, 51–76 (1988)
Meer, P., Mintz, D., Kim, D., Rosenfeld, A.: Robust regression methods for computer vision: A review. International Journal of Computer Vision 6(1), 59–70 (1991)
Huber, J., Graefe, V.: Motion stereo for mobile robots. IEEE Transactions on Industrial Electronics 41(4), 378–383 (1994)
Zhang, A., Faugeras, O.D.: Estimations of displacements from two 3-d frames obtained from stereo. IEEE Transactions on Pattern Analysis and Machine Intelligence 14(12) (1992)
Nister, D., Narodistsky, O., Beren, J.: Visual odometry. In: IEEE Conference on Computer Vision and Pattern Recognition, IEEE Computer Society Press, Los Alamitos (2004)
Hagnelius, A.: Visual odometry. In: Master Thesis in Computing Science, UMEA University (April 2005)
García-García, R.G., Sotelo, M.A., Parra, I., Fernández, D., Gavilán, M.: 3D Visual Odometry for GPS Navigation Assistance. In: IEEE IV Symposium, Istanbul, Turkey (2007)
Author information
Authors and Affiliations
Editor information
Rights and permissions
Copyright information
© 2007 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Sotelo, M.A. et al. (2007). Ego-Motion Computing for Vehicle Velocity Estimation. In: Moreno Díaz, R., Pichler, F., Quesada Arencibia, A. (eds) Computer Aided Systems Theory – EUROCAST 2007. EUROCAST 2007. Lecture Notes in Computer Science, vol 4739. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-75867-9_140
Download citation
DOI: https://doi.org/10.1007/978-3-540-75867-9_140
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-75866-2
Online ISBN: 978-3-540-75867-9
eBook Packages: Computer ScienceComputer Science (R0)