3D Pose Estimation of Vehicles Using a Stereo Camera

Barrois B, Hristova S, Wöhler C, Kummert F, Hermes C (2009)
In: IEEE Intelligent Vehicles Symposium. Xi’an, China.

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Abstract
This study introduces an approach to three- dimensional vehicle pose estimation using a stereo camera system. After computation of stereo and optical flow on the investigated scene, a four-dimensional clustering approach separates the static from the moving objects in the scene. The iterative closest point algorithm (ICP) estimates the vehicle pose using a cuboid as a weak vehicle model. In contrast to classical ICP optimisation a polar distance metric is used which especially takes into account the error distribution of the stereo measurement process. The tracking approach is based on tracking-by-detection such that no temporal filtering is used. The method is evaluated on seven different real-world sequences, where different stereo algorithms, baseline distances, distance metrics, and optimisation algorithms are examined. The results show that the proposed polar distance metric yields a higher accuracy for yaw angle estimation of vehicles than the common Euclidean distance metric, especially when using pixel-accurate stereo points.
Publishing Year
Conference
IEEE Intelligent Vehicles Symposium
Location
Xi’an, China
Conference Date
2009-06-03
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Barrois B, Hristova S, Wöhler C, Kummert F, Hermes C. 3D Pose Estimation of Vehicles Using a Stereo Camera. In: IEEE Intelligent Vehicles Symposium. Xi’an, China; 2009.
Barrois, B., Hristova, S., Wöhler, C., Kummert, F., & Hermes, C. (2009). 3D Pose Estimation of Vehicles Using a Stereo Camera. IEEE Intelligent Vehicles Symposium.
Barrois, B., Hristova, S., Wöhler, C., Kummert, F., and Hermes, C. (2009). “3D Pose Estimation of Vehicles Using a Stereo Camera” in IEEE Intelligent Vehicles Symposium (Xi’an, China).
Barrois, B., et al., 2009. 3D Pose Estimation of Vehicles Using a Stereo Camera. In IEEE Intelligent Vehicles Symposium. Xi’an, China.
B. Barrois, et al., “3D Pose Estimation of Vehicles Using a Stereo Camera”, IEEE Intelligent Vehicles Symposium, Xi’an, China: 2009.
Barrois, B., Hristova, S., Wöhler, C., Kummert, F., Hermes, C.: 3D Pose Estimation of Vehicles Using a Stereo Camera. IEEE Intelligent Vehicles Symposium. Xi’an, China (2009).
Barrois, Björn, Hristova, Stela, Wöhler, Christian, Kummert, Franz, and Hermes, Christoph. “3D Pose Estimation of Vehicles Using a Stereo Camera”. IEEE Intelligent Vehicles Symposium. Xi’an, China, 2009.
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