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Vehicle Trajectory from an Uncalibrated Stereo-Rig with Super-Homography

Abstract : We present in this article an original manner to estimate the trajectory of a vehicle running in urban-like areas. The method consists in extracting then tracking features (points, lines) with an uncalibrated stereo-rig from the road assumed as a plane to compute homographies relative to the camera(s) motions. The purposed method copes with the dense traffic conditions: the free space required (first ten meters in front of the vehicle) is slightly equivalent to the security distance between two vehicles. Experimental issues from real data are presented and discussed.
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Contributor : Nicolas Simond Connect in order to contact the contributor
Submitted on : Monday, October 23, 2006 - 5:34:20 PM
Last modification on : Saturday, October 22, 2022 - 5:12:53 AM
Long-term archiving on: : Monday, September 20, 2010 - 5:12:09 PM


  • HAL Id : inria-00091212, version 2


Nicolas Simond, Claude Laurgeau. Vehicle Trajectory from an Uncalibrated Stereo-Rig with Super-Homography. International Conference on Intelligent Robots and Systems (IROS'06), Oct 2006, Beijing, China. ⟨inria-00091212v2⟩



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