Location estimation and trajectory prediction of moving lateral vehicle using two wheel shapes information in 2-D lateral vehicle images by 3-D computer vision techniques

Chih Chiun Lai, Wen-Hsiang Tsai*

*Corresponding author for this work

Research output: Contribution to journalConference articlepeer-review

10 Scopus citations

Abstract

A novel approach to location estimation and trajectory prediction of moving lateral vehicle locations for driving assistance using wheels shape information in single 2-D vehicle images by 3-D computer vision techniques is proposed. The location scheme is supposed to be performed on a vehicle with a camera mounted on the front bumper. An analytical solution is applied to estimate the location of a lateral vehicle. Firstly, the normal vectors of the car wheels in the camera coordinate system as well as the projections of the wheel centers in the image plane are derived. Then orientation angle of the lateral vehicle with respect to the driving vehicle is derived from the two vectors. Next, the image projections of the contact points of the wheels with the ground are detected. Finally, the image positions of the contact points are used to determine the 3D relative position of the moving vehicle with respect to the camera coordinate system by the back-projection principle. After the location of a moving lateral vehicle is obtained, a new approach is proposed to predict the trajectory of a lateral vehicle by using the spatial information of the two wheels in a single image. Real images are tested and experimental results show the effectiveness of the proposed approaches. The results are useful for car driving assistance and vehicle collision avoidance.

Original languageEnglish
Pages (from-to)881-886
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume1
DOIs
StatePublished - 9 Dec 2003
Event2003 IEEE International Conference on Robotics and Automation - Taipei, Taiwan
Duration: 14 Sep 200319 Sep 2003

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