Mostrar el registro sencillo del ítem

dc.contributor.authorDung Hoang, Van
dc.contributor.authorCáceres Hernández, Danilo
dc.contributor.authorHa Le, My
dc.contributor.authorHyun Jo, Kang
dc.date.accessioned2018-06-27T20:10:00Z
dc.date.accessioned2018-06-27T20:10:00Z
dc.date.available2018-06-27T20:10:00Z
dc.date.available2018-06-27T20:10:00Z
dc.date.issued11/03/2013
dc.date.issued11/03/2013
dc.identifierhttps://ieeexplore.ieee.org/abstract/document/6696433/authors
dc.identifier.issn2153-0866
dc.identifier.urihttp://ridda2.utp.ac.pa/handle/123456789/5078
dc.identifier.urihttp://ridda2.utp.ac.pa/handle/123456789/5078
dc.descriptionThis paper proposes a new method to estimate the 3D motion of a vehicle based on car-like structured motion model using an omnidirectional camera and a laser rangefinder. In recent years, motion estimation using vision sensor has improved by assuming planar motion in most conventional research to reduce requirement parameters and computational cost. However, for real applications in environment of outdoor terrain, the motion does not satisfy this condition. In contrast, our proposed method uses one corresponding image point and motion orientation to estimate the vehicle motion in 3D. In order to reduce requirement parameters for speedup computational systems, the vehicle moves under car-like structured motion model assumption. The system consists of a camera and a laser rangefinder mounted on the vehicle. The laser rangefinder is used to estimate motion orientation and absolute translation of the vehicle. An omnidirectional image-based one-point correspondence is used for combining with motion orientation and absolute translation to estimate rotation components of yaw, pitch angles and three translation components of Tx, Ty, and Tz. Real experiments in sloping terrain demonstrate the accuracy of vehicle localization estimation using the proposed method. The error at the end of travel position of our method, one-point RANSAC are 1.1%, 5.1%, respectively.en_US
dc.description.abstractThis paper proposes a new method to estimate the 3D motion of a vehicle based on car-like structured motion model using an omnidirectional camera and a laser rangefinder. In recent years, motion estimation using vision sensor has improved by assuming planar motion in most conventional research to reduce requirement parameters and computational cost. However, for real applications in environment of outdoor terrain, the motion does not satisfy this condition. In contrast, our proposed method uses one corresponding image point and motion orientation to estimate the vehicle motion in 3D. In order to reduce requirement parameters for speedup computational systems, the vehicle moves under car-like structured motion model assumption. The system consists of a camera and a laser rangefinder mounted on the vehicle. The laser rangefinder is used to estimate motion orientation and absolute translation of the vehicle. An omnidirectional image-based one-point correspondence is used for combining with motion orientation and absolute translation to estimate rotation components of yaw, pitch angles and three translation components of Tx, Ty, and Tz. Real experiments in sloping terrain demonstrate the accuracy of vehicle localization estimation using the proposed method. The error at the end of travel position of our method, one-point RANSAC are 1.1%, 5.1%, respectively.en_US
dc.formatapplication/pdf
dc.formattext/html
dc.languageeng
dc.rightsinfo:eu-repo/semantics/embargoedAccess
dc.subjectVehiclesen_US
dc.subjectCamerasen_US
dc.subjectThree-dimensional displaysen_US
dc.subjectTrajectoryen_US
dc.subjectMotion estimationen_US
dc.subjectGeometryen_US
dc.subjectRoadsen_US
dc.subjectVehicles
dc.subjectCameras
dc.subjectThree-dimensional displays
dc.subjectTrajectory
dc.subjectMotion estimation
dc.subjectGeometry
dc.subjectRoads
dc.title3D motion estimation based on pitch and azimuth from respective camera and laser rangefinder sensingen_US
dc.typeinfo:eu-repo/semantics/article
dc.typeinfo:eu-repo/semantics/publishedVersion


Ficheros en el ítem

FicherosTamañoFormatoVer

No hay ficheros asociados a este ítem.

Este ítem aparece en la(s) siguiente(s) colección(ones)

Mostrar el registro sencillo del ítem