Auto-estimation of Relative Orientation Between a Roof-Mounted Spherical Camera and a Vehicle Based on Spherical SLAM

被引：0

作者：

Matsuo, Shoji ^{[1
]}

Li, Shigang ^{[1
,2
]}

Li, Jianfeng ^{[2
]}

Mitsugami, Ikuhisa ^{[1
]}

Kosaki, Takahiro ^{[1
]}

机构：

[1] Hiroshima City Univ, Grad Sch Informat Sci, Hiroshima 7313194, Japan

[2] Southwest Univ, Sch Elect & Informat Engn, Chongqing 400715, Peoples R China

来源：

2018 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO) | 2018年

关键词：

VISION SYSTEM; CALIBRATION;

D O I：

暂无

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

While humans can drive a vehicle using visual information, we investigate the possibility of driving assistance by using a single spherical camera. As the first step, this paper proposes a method of auto-estimation of the relative orientation between a roof-mounted spherical camera and a vehicle. The location of the spherical camera is estimated by a full-view SLAM (Simultaneously Localization and mapping) method [18]. If the trajectory of the camera is on a plane, the normal vector of the plane can be computed by fitting the plane. By combining the heading direction of the vehicle with the computed normal vector, the coordinate system of the vehicle can be determined. Experimental results are given to show the effectiveness of the proposed method.

引用

页码：1620 / 1625

页数：6