3D motion estimation based on pitch and azimuth from respective camera and laser rangefinder sensing
This 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 re...
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| Format: | article |
| Language: | English |
| Published: |
2018
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| Online Access: | https://ieeexplore.ieee.org/abstract/document/6696433/authors http://ridda2.utp.ac.pa/handle/123456789/5078 |
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| _version_ | 1869652456797896704 |
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| author | Dung Hoang, Van |
| author2 | Cáceres Hernández, Danilo Ha Le, My Hyun Jo, Kang |
| author2_role | author author author |
| author_browse | Cáceres Hernández, Danilo Dung Hoang, Van Ha Le, My Hyun Jo, Kang |
| author_facet | Dung Hoang, Van Cáceres Hernández, Danilo Ha Le, My Hyun Jo, Kang |
| author_role | author |
| collection | Repositorio Institucional de documento digitales de acceso abierto de la UTP |
| dc.creator.none.fl_str_mv | Dung Hoang, Van Cáceres Hernández, Danilo Ha Le, My Hyun Jo, Kang |
| dc.date.none.fl_str_mv | 11/03/2013 11/03/2013 2018-06-27T20:10:00Z 2018-06-27T20:10:00Z 2018-06-27T20:10:00Z 2018-06-27T20:10:00Z |
| dc.format.none.fl_str_mv | application/pdf text/html |
| dc.identifier.none.fl_str_mv | https://ieeexplore.ieee.org/abstract/document/6696433/authors 2153-0866 http://ridda2.utp.ac.pa/handle/123456789/5078 http://ridda2.utp.ac.pa/handle/123456789/5078 |
| dc.language.none.fl_str_mv | eng |
| dc.rights.none.fl_str_mv | info:eu-repo/semantics/embargoedAccess |
| dc.source.none.fl_str_mv | reponame:Repositorio Institucional de documento digitales de acceso abierto de la UTP instname:Universidad Tecnológica de Panamá instacron:U Tecnológica de Panamá |
| dc.subject.none.fl_str_mv | Vehicles Cameras Three-dimensional displays Trajectory Motion estimation Geometry Roads Vehicles Cameras Three-dimensional displays Trajectory Motion estimation Geometry Roads |
| dc.title.none.fl_str_mv | 3D motion estimation based on pitch and azimuth from respective camera and laser rangefinder sensing |
| dc.type.none.fl_str_mv | info:eu-repo/semantics/article info:eu-repo/semantics/publishedVersion |
| description | This 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. |
| eu_rights_str_mv | embargoedAccess |
| format | article |
| id | lrtest_1b9b0131baaf8aaff8e1e399b1eb82cf |
| identifier_str_mv | 2153-0866 |
| instacron_str | U Tecnológica de Panamá |
| institution | U Tecnológica de Panamá |
| instname_str | Universidad Tecnológica de Panamá |
| language | eng |
| network_acronym_str | lrtest |
| network_name_str | lr |
| oai_identifier_str | oai:ridda2.utp.ac.pa:123456789/5078 |
| publishDate | 2018 |
| publishDateSort | 2018 |
| reponame_str | Repositorio Institucional de documento digitales de acceso abierto de la UTP |
| repository.mail.fl_str_mv | |
| repository.name.fl_str_mv | |
| repository_id_str | |
| spelling | 3D motion estimation based on pitch and azimuth from respective camera and laser rangefinder sensingDung Hoang, VanCáceres Hernández, DaniloHa Le, MyHyun Jo, KangVehiclesCamerasThree-dimensional displaysTrajectoryMotion estimationGeometryRoadsVehiclesCamerasThree-dimensional displaysTrajectoryMotion estimationGeometryRoadsThis 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.This 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.2018-06-27T20:10:00Z2018-06-27T20:10:00Z2018-06-27T20:10:00Z2018-06-27T20:10:00Z11/03/201311/03/2013info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionapplication/pdftext/htmlhttps://ieeexplore.ieee.org/abstract/document/6696433/authors2153-0866http://ridda2.utp.ac.pa/handle/123456789/5078http://ridda2.utp.ac.pa/handle/123456789/5078enginfo:eu-repo/semantics/embargoedAccessreponame:Repositorio Institucional de documento digitales de acceso abierto de la UTPinstname:Universidad Tecnológica de Panamáinstacron:U Tecnológica de Panamáoai:ridda2.utp.ac.pa:123456789/50782021-07-06T15:34:54Z |
| spellingShingle | 3D motion estimation based on pitch and azimuth from respective camera and laser rangefinder sensing Dung Hoang, Van Vehicles Cameras Three-dimensional displays Trajectory Motion estimation Geometry Roads Vehicles Cameras Three-dimensional displays Trajectory Motion estimation Geometry Roads |
| status_str | publishedVersion |
| title | 3D motion estimation based on pitch and azimuth from respective camera and laser rangefinder sensing |
| title_full | 3D motion estimation based on pitch and azimuth from respective camera and laser rangefinder sensing |
| title_fullStr | 3D motion estimation based on pitch and azimuth from respective camera and laser rangefinder sensing |
| title_full_unstemmed | 3D motion estimation based on pitch and azimuth from respective camera and laser rangefinder sensing |
| title_short | 3D motion estimation based on pitch and azimuth from respective camera and laser rangefinder sensing |
| title_sort | 3D motion estimation based on pitch and azimuth from respective camera and laser rangefinder sensing |
| topic | Vehicles Cameras Three-dimensional displays Trajectory Motion estimation Geometry Roads Vehicles Cameras Three-dimensional displays Trajectory Motion estimation Geometry Roads |
| url | https://ieeexplore.ieee.org/abstract/document/6696433/authors http://ridda2.utp.ac.pa/handle/123456789/5078 |