【摘 要】
：
Auto navigation and vehicle distance estimation are of the critical importance in intelligent vehicles.This paper proposes a novel approach to solve these two p
【机 构】
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The Second Artillery Engineering University,State Key Laboratory of Intelligent Technology and Syste
【出 处】
：
Science China(Information Sciences)
论文部分内容阅读
Auto navigation and vehicle distance estimation are of the critical importance in intelligent vehicles.This paper proposes a novel approach to solve these two problems simultaneously by using a monocular camera.First,we introduce an incremental depth parameterized model to overcome the scale ambiguity problem in monocular vision,which differs from other parameterized models with reduced state-dimension and consistent observability.In addition,the view-field of camera is divided into static and dynamic parts so that the egomotion and vehicle-space can be calculated simultaneously.Outdoor experiments are implemented to validate the effectiveness of the proposed approach.
Auto navigation and vehicle distance estimation are of the critical importance in intelligent vehicles. This paper proposes a novel approach to solve these two problems using by a monocular camera. First, we introduce an incremental depth parameterized model to overcome the scale ambiguity problem in monocular vision, which differs from other parameterized models with reduced state-dimension and consistent observability. In addition, the view-field of camera is divided into static and dynamic parts so that the egomotion and vehicle-space can be calculated simultaneously. to validate the effectiveness of the proposed approach.
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